US6819956B2 - Optimal method and apparatus for neural modulation for the treatment of neurological disease, particularly movement disorders - Google Patents

Abstract

A neurological control system for modulating activity of any component or structure comprising the entirety or portion of the nervous system, or any structure interfaced thereto, generally referred to herein as a “nervous system component.” The neurological control system generates neural modulation signals delivered to a nervous system component through one or more intracranial (IC) stimulating electrodes in accordance with treatment parameters. Such treatment parameters may be derived from a neural response to previously delivered neural modulation signals sensed by one or more sensors, each configured to sense a particular characteristic indicative of a neurological or psychiatric condition. Neural modulation signals include any control signal which enhances or inhibits cell activity. Significantly the neurological control system considers neural response, in the form of the sensory feedback, as an indication of neurological disease state and/or responsiveness to therapy, in the determination of treatment parameters.

Description

RELATED APPLICATIONS

This application is a continuation-in-part of and claims the benefit of prior and U.S. patent application Ser. No. 09/340,326, entitled APPARATUS AND METHOD FOR CLOSED-LOOP INTRACRANIAL STIMULATION FOR OPTIMAL CONTROL OF NEUROLOGICAL DISEASE, filed Jun. 25, 1999, now U.S. Pat. No. 6,366,813, and naming as inventor Daniel John DiLorenzo, and to U.S. Provisional Patent Application No. 60/095,413, entitled OPTIMAL METHOD AND APPARATUS FOR NEURAL MODULATION FOR THE TREATMENT OF NEUROLOGICAL DISEASE, PARTICULARLY MOVEMENT DISORDERS, filed Aug. 5, 1998, also naming as inventor Daniel John DiLorenzo.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates generally to neurological disease and, more particularly, to intracranial stimulation for optimal control of movement disorders and other neurological disease.

2. Related Art

There are a wide variety of treatment modalities for neurological disease including movement disorders such as Parkinson's Disease, Huntington's Disease, and Restless Leg Syndrome, as well as psychiatric disease including depression, bipolar disorder and borderline personality disorders. These treatment modalities are moderately efficacious; however, they suffer from sever severe drawbacks. Each of these traditional treatment modalities and their associated limitations are described below.

One common conventional technique for controlling neurological disease includes the use of dopaminergic agonists or anticholinerigic agents. Medical management using these techniques requires considerable iteration in dosing adjustments before an “optimal” balance between efficacy and side effect minimalization is achieved. Variation, including both circadian and postprandial variations, causes wide fluctuation in symptomatology. This commonly results in alternation between “on” and “off” periods during which the patient possesses and loses motor functionality, respectively.

Another traditional approach for controlling movement disorders is tissue ablation. Tissue ablation is most commonly accomplished through stereotactic neurosurgical procedures, including pallidotomy, thalamotomy, subthalamotomy, and other lesioning procedures. These procedures have been found to be moderately efficatious. However, in addition to posing risks that are inherent to neurosurgical operations, these procedures suffer from a number of fundamental limitations. One such limitation is that tissue removal or destruction is irreversible. As a result, excessive or inadvertent removal of tissue cannot be remedied.

Furthermore, undesirable side effects, including compromise of vision and motor or sensory functions, are likely to be permanent conditions. In particular, bilateral interventions place the patient at considerable risk for developing permanent neurologic side effects, including incontinence, aphasia, and grave psychic disorders. An additional drawback to this approach is that the “magnitude” of treatment is constant. That is, it is not possible to vary treatment intensity over time, as may be required to match circadian, postprandial, and other fluctuations in symptomatology and consequent therapeutic needs. Thus, decrease in treatment “magnitude” is not possible while an increase in treatment “magnitude” necessitates reoperation. Some adjustment is possible through augmentation with pharmacologic treatment; however, these additional treatments are subject to the above-noted limitations related to drug therapy.

Another traditional approach for controlling movement disorders and other neurological disease includes tissue transplantation, typically from animal or human mesencephalic cells. Although tissue transplantation in humans has been performed for many years, it remains experimental and is limited by ethical concerns when performed using a human source. Furthermore, graft survival, as well as subsequent functional connection with intracranial nuclei, are problematic. The yield, or percentage of surviving cells, is relatively small and is not always predictable, posing difficulties with respect to the control of treatment “magnitude.”

Another traditional approach for controlling neurological disease is the continuous electrical stimulation of a predetermined neurological region. Chronic high frequency intracranial electrical stimulation is typically used to inhibit cellular activity in an attempt to functionally replicate the effect of tissue ablation, such as pallidotomy and thalamotomy. Acute electrical stimulation and electrical recording and impedance measuring of neural tissue have been used for several decades in the identification of brain structures for both research purposes as well as for target localization during neurosurgical operations for a variety of neurological diseases. During intraoperative electrical stimulation, reduction in tremor has been achieved using frequencies typically on the order of 75 to 330 Hz. Based on these findings, chronically implanted constant-amplitude electrical stimulators have been implanted in such sites as the thalamus, subthalamic nucleus and globus pallidus.

Chronic constant-amplitude stimulation has been shown to be moderately efficacious. However, it has also been found to be limited by the lack of responsiveness to change in patient system symptomatology and neuromotor function. Following implantation, a protracted phase of parameter adjustment, typically lasting several weeks to months, is endured by the patient while stimulation parameters are interactively adjusted during a series of patient appointments. Once determined, an “acceptable” treatment magnitude is maintained as a constant stimulation level. A drawback to this approach is that the system is not responsive to changes in patient need for treatment. Stimulation is typically augmented with pharmacological treatment to accommodate such changes, causing fluctuation of the net magnitude of treatment with the plasma levels of the pharmacologic agent.

As noted, while the above and other convention treatment modalities offer some benefit to patients with movement disorders, their efficacy is limited. For the above-noted reasons, with such treatment modalities it is difficult and often impossible to arrive at an optimal treatment “magnitude,” that is, an optimal dose or intensity of treatment. Furthermore, patients are subjected to periods of overtreatment and undertreatment due to variations in disease state. Such disease state variations include, for example, circadian fluctuations, postprandial (after meal) and nutrition variations, transients accompanying variations in plasma concentrations of pharmacological agents, chronic progression of disease, and others.

Moreover, a particularly significant drawback to the above and other traditional treatment modalities is that they suffer from inconsistencies in treatment magnitude. For example, with respect to drug therapy, a decrease in responsiveness to pharmacologic agents eventually progresses to eventually preclude effective pharmacologic treatment. With respect to tissue ablation, progression of disease often necessitates reoperation to extend pallidotomy and thalamotomy lesion dimensions. Regarding tissue transplantation, imbalances between cell transplant formation rates and cell death rates cause unanticipated fluctuations in treatment magnitude. For continuous electrical stimulation, changes in electrode position, electrode impedance, as well as patient responsiveness to stimulation and augmentative pharmacologic agents, cause a change in response to a constant magnitude of therapy.

Currently, magnets commonly serve as input devices used by patients with implantable stimulators, including deep brain stimulators, pacemakers, and spinal cord stimulators. Current systems require the patient to manually turn the system off at night time to conserve battery power and use such magnets to maintain system power. This presents considerable difficulty to many patients whose tremor significantly impairs arm function, as they are unable to hold a magnet in a stable manner over the implanted electronics module. Consequently, many patients are unable to turn their stimulators on in the morning without assistance.

What is needed, therefore, is an apparatus and method for treatment of patients with neurological disease in general and movement disorders in particular that is capable of determining and providing an optimal dose or intensity of treatment. Furthermore, the apparatus and method should be responsive to unpredictable changes in symptomatology and minimize alternations between states of overtreatment and undertreatment. The system should also be capable of anticipating future changes in symptomatology and neuromotor functionality, and being responsive to such changes when the occur.

SUMMARY OF THE INVENTION

The present invention is a neurological control system for modulating activity of any component or structure comprising the entirety or portion of the nervous system, or any structure interfaced thereto, generally referred to herein as a “nervous system component.” The neurological control system generates neural modulation signals delivered to a nervous system component through one or more intracranial (IC) stimulating electrodes in accordance with treatment parameters. Such treatment parameters may be derived from a neural response to previously delivered neural modulation signals sensed by one or more sensors, each configured to sense a particular characteristic indicative of a neurological or psychiatric condition. Neural modulation signals include any control signal which enhances or inhibits cell activity. Significantly the neurological control system considers neural response, in the form of the sensory feedback, as an indication of neurological disease state and/or responsiveness to therapy, in the determination of treatment parameters.

In one aspect of the invention, a neural modulation system for use in treating disease which provides stimulus intensity which may be varied is disclosed. The stimulation may be at least one of activating, inhibitory, and a combination of activating and inhibitory and the disease is at least one of neurologic and psychiatric. For example, the neurologic disease may include Parkinson's disease, Huntington's disease, Parkinsonism, rigidity, hemiballism, choreoathetosis, dystonia, akinesia, bradykinesia, hyperkinesia, other movement disorder, epilepsy, or the seizure disorder. The psychiatric disease may include, for example, depression, bipolar disorder, other affective disorder, anxiety, phobia, schizophrenia, multiple personality disorder. The psychiatric disorder may also include substance abuse, attention deficit hyperactivity disorder, impaired control of aggression, or impaired control of sexual behavior.

In another aspect of the invention, a neurological control system is disclosed. The neurological control system modulates the activity of at least one nervous system component, and includes at least one intracranial stimulating electrode, each constructed and arranged to deliver a neural modulation signal to at least one nervous system component; at least one sensor, each constructed and arranged to sense at least one parameter, including but not limited to physiologic values and neural signals, which is indicative of at least one of disease state, magnitude of symptoms, and response to therapy; and a stimulating and recording unit constructed and arranged to generate said neural modulation signal based upon a neural response sensed by said at least one sensor in response to a previously delivered neural modulation signal.

In another aspect of the invention, an apparatus for modulating the activity of at least one nervous system component is disclosed. The apparatus includes means for delivering neural modulation signal to said nervous system component; and means for sensing neural response to said neural modulation signal. In one embodiment, the delivery means comprises means for generating said neural modulation signal, said generating means includes signal conditioning means for conditioning sensed neural response signals, said conditioning including but not limited to at least one of amplification, lowpass filtering, highpass filtering, bandpass filtering, notch filtering, root-mean square calculation, envelope determination, and rectification; signal processing means for processing said conditioned sensed neural response signals to determine neural system states, including but not limited to a single or plurality of physiologic states and a single or plurality of disease states; and controller means for adjusting neural modulation signal in response to sensed neural response to signal.

Advantageously, aspects of the neurological control system are capable of incorporating quantitative and qualitative measures of patient symptomatology and neuromotor circuitry function in the regulation of treatment magnitude.

Another advantage of certain aspects of the present invention is that it performs automated determination of the optimum magnitude of treatment. By sensing and quantifying the magnitude and frequency of tremor activity in the patient, a quantitative representation of the level or “state” of the disease is determined. The disease state is monitored as treatment parameters are automatically varied, and the local or absolute minimum in disease state is achieved as the optimal set of stimulation parameters is converged upon. The disease state may be represented as a single value or a vector or matrix of values; in the latter two cases, a multi variable optimization algorithm is employed with appropriate weighting factors. Automated optimization of treatment parameters expedites achievement of satisfactory treatment of the patient, reducing the time and number of interactions, typically in physician visits, endured by the patient. This optimization includes selection of electrode polarities, electrode configurations stimulating parameter waveforms, temporal profile of stimulation magnitude, stimulation duty cycles, baseline stimulation magnitude, intermittent stimulation magnitude and timing, and other stimulation parameters.

Another advantage of certain aspects of the present invention is its provision of signal processed sensory feedback signals to clinicians to augment their manual selection of optimum treatment magnitude and pattern. Sensory feedback signals provided to the clinician via a clinician-patient interface include but are not limited to tremor estimates, electromyography (EMG) signals, EEG signals, accelerometer signals, acoustic signals, peripheral nerve signals, cranial nerve signals, cerebral or cerebellar cortical signals, signals from basal ganglia, signals from other brain or spinal cord structures, and other signals.

A further advantage of certain aspects of the present invention is that it provides modulation of treatment magnitude to compensate for predictable fluctuations in symptomatology and cognitive and neuromotor functionality. Such fluctuations include those due to, for example, the circadian cycle, postprandial and nutritional changes in symptomatology, and variations in plasma levels of pharmacologic agents.

A further advantage of certain aspects of the present invention is that it is responsive to patient symptomatology, as tremor typically abates during sleep. This overcomes the above-noted problems of patient inability to hold a magnet in a stable manner over the implanted electronics module and the resulting problem of not being able to turn their stimulators on in the morning without assistance.

A still further advantage of certain aspects of the present invention is that it provides prediction of future symptomatology, cognitive and neuromotor functionality, and treatment magnitude requirements. Such predictions may be based on preset, learned and real-time sensed parameters as well as input from the patient, physician or other person or system.

A still further advantage of certain aspects of the present invention is that it optimizes the efficiency of energy used in the treatment given to the patient. Stimulation intensity may be minimized to provide the level of treatment magnitude necessary to control disease symptoms to a satisfactory level without extending additional energy delivering unnecessary overtreatment.

Further features and advantages of the present invention, as well as the structure and operation of various embodiments of the present invention, are described in detail below with reference to the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

The present invention is described with reference to the accompanying drawings. In the drawings, like reference numerals indicate identical or functionally similar elements.

FIG. 1 is a schematic diagram of one embodiment of the present invention implanted bilaterally in a human patient.

FIG. 2 is an architectural block diagram of one embodiment of the neurological control system of the present invention.

FIG. 3 is a block diagram of one embodiment of an intracranial recording electrode (ICRE) signal processor and an intracranial stimulating electrode (ICSE) signal processor each of which are included within the signal processor illustrated in FIG.2.

FIG. 4 is a schematic diagram of a globus pallidus implanted with stimulating and recording electrodes in accordance with one embodiment of the present invention.

FIG. 5 is a block diagram of one embodiment of an EMG signal processor which is included in one embodiment of the signal processor illustrated in FIG.2.

FIG. 6 is a block diagram of one embodiment of an EEG signal processor module which is included in one embodiment of the signal processor illustrated in FIG.2.

FIG. 7 is a block diagram of one embodiment of an accelerometer signal processor which is incorporated into certain embodiments of the signal processor illustrated in FIG.2.

FIG. 8 is a block diagram of one embodiment of an acoustic signal processor which is included in certain embodiments of the signal processor illustrated in FIG.2.

FIG. 9 is block diagram of one embodiment of a peripheral nerve electrode (PNE)signal processor237 which is implemented in certain embodiments ofsignal processor71. PNE signal

FIG. 10 is a schematic diagram of one embodiment of the signal processor illustrated in FIG.2.

FIG. 11 is a schematic diagram of the patient-neural modulator system illustrated in FIG. 2 illustrated to show its controller and observer components.

FIG. 12 is a schematic diagram of one embodiment of the control circuit illustrated in FIG.2.

FIG. 13 is a schematic diagram of electrical stimulation waveforms for neural modulation.

FIG. 14 is a schematic diagram of one example of the recorded waveforms.

FIG. 15 is a schematic block diagram of an analog switch used to connect one or an opposing polarity pair of Zener diodes across the noninverting and inverting inputs of an intracranial recording electrode amplifier.

DETAILED DESCRIPTION

FIG. 1 is a schematic diagram of one embodiment of the intracranial stimulator of the present invention implanted bilaterally in a human patient. In the embodiment illustrated in FIG. 1, twoneurological control systems999 are shown implanted bilaterally. Eachsystem999 includes a stimulating andrecording unit26 and one or more intracranial components described below. As described in this illustrative embodiment, the intracranial components preferably include a stimulatingelectrode array37. However, it should become apparent to those of ordinary skill in the relevant art after reading the present disclosure that the stimulating electrodes may also be extracranial; that is, attached to a peripheral nerve in addition to or in place of being located within the cranium. As shown in FIG. 1, stimulating andrecording unit26 of eachneurological control system999 is preferably implanted contralateral to the intracranial components of the device.

As one skilled in the relevant art would find apparent from the following description, the configuration illustrated in FIG. 1 is just one example of the present invention. Many other configurations are contemplated. For example, in alternative embodiments of the present invention, the stimulating andrecording unit26 is implanted ipsilateral or bilateral to the intracranial components. It should also be understood that the stimulating andrecording unit26 can receive ipsilateral, contralateral or bilateral inputs from sensors and deliver ipsilateral, contralateral, or bilateral outputs to a single or a plurality of intracranialstimulating electrode arrays37. Preferably, these inputs are direct or preamplified signals from at least one ofEMG electrode array50,EEG electrode array51,Accelerometer Array52,Acoustic Transducer Array53, PeripheralNerve Electrode Array54, and IntracranialRecording Electrode Array38. The signals input from these sensors will be referred to herein as “sensory input modalities”247. The outputs include but are not limited to one or more stimulating current signals or stimulating voltage signals to IntracranialStimulating Electrode Array37.

In the embodiment illustrated in FIG. 1, the twounilateral systems26 are shown to receive sensory inputs from the side contralateral as well as the intracranialstimulating electrode arrays37. In the illustrative embodiment,systems26 also receive sensory inputs from intracranialrecording electrode arrays38. As will become apparent from the following description, intracranialrecording electrode arrays38 may provide valuable feedback information.

It should be understood that this depiction is for simplicity only, and that any combination of ipsilateral, contralateral or bilateral combination of each of the multiple sensory input modalities and multiple stimulation output channels may be employed. In addition, stimulating andrecording units26 may be a single device, two communicating devices, or two independent devices. Accordingly, these and other configurations are considered to be within the scope of the present invention. It is anticipated that stimulating andrecording units26, if implemented as distinct units, would likely be implanted in separate procedures (soon after clinical introduction) to minimize the likelihood of drastic neurological complications.

In the exemplary embodiment illustrated in FIG. 1, the intracranialstimulating electrode array37 includes a plurality of intracranialstimulating electrodes1,2,3 and4.Array37 may, of course, have more or fewer electrodes than that depicted in FIG.1. These intracranial stimulating electrodes1-4 may be used to provide stimulation to a predetermined nervous system component. The electrical stimulation provided by the intracranial stimulating electrodes1-4 may be excitatory or inhibitory, and this may vary in a manner which is preprogrammed, varied in real-time, computed in advance using a predictive algorithm, or determined using another technique now or latter developed.

The intracranialrecording electrode arrays38 includesintracranial recording electrodes5 and6. In accordance with one embodiment of the present invention, theintracranial recording electrodes5,6 are used to record cortical activity as a measure of response to treatment and as a predictor of impeding treatment magnitude requirements. In the illustrative embodiment,intracranial recording electrodes5 and6 are depicted in a location superficial to the intracranial stimulating electrodes1-4. However, this positioning may be reversed or the intracranial stimulating electrodes1-4 andintracranial recording electrodes5 and6 may be interspersed in alternative embodiments. For example, these electrodes may be placed in at least one of motor cortex, premotor cortex, supplementary motor cortex, other motor cortical areas, somatosensory cortex, other sensory cortical areas, Wernicke's area, Broca's area, other cortical region, other intracranial region, and other extracranial region.

In the illustrative embodiment, anintracranial catheter7 is provided to mechanically support and facilitate electrical connection between intracranial and extracranial structures. In this embodiment,intracranial catheter7 contains one or more wires connecting extracranial stimulating andrecording circuit26 to the intracranial electrodes, including but not limited to, intracranial stimulating electrodes1-4 andintracranial recording electrodes5,6. The wires contained withinintracranial catheter7 transmit stimulating electrode output signal (SEOS) to intracranialstimulating electrode array37. Such wires additionally transmit stimulating electrode input signal (SEIS) and recording electrode input signal (REIS), from intracranial stimulatingelectrode array37 and intracranialrecording electrode array38 respectively, to stimulating andrecording circuit26.

Stimulating andrecording circuit26 is protected within acircuit enclosure44.Circuit enclosure44 and contained components, including stimulating andrecording circuit26 comprise stimulating andrecording unit43. It should be understood that more or fewer of either type of electrode as well as additional electrode types and locations may be incorporated or substituted without departing from the spirit of the present invention. Furthermore, stimulating andrecording circuit26 can be placed extra cranially in a subclavian pocket as shown in FIG. 1, or it may be placed in other extracranial or intracranial locations.

Connectingcable8 generally provides electrical connection between intracranial or intracranial locations. A set of electrical wires provides the means for communication between the intracranial and extracranial components; however, it should be understood that alternate systems and techniques such as radiofrequency links, optical (including infrared) links with transcranial optical windows, magnetic links, and electrical links using the body components as conductors, may be used without departing from the present invention. Specifically, in the illustrative embodiment, connectingcable8 provides electrical connection betweenintracranial components246 and stimulating andrecording circuit26. In embodiments wherein stimulating andrecording circuit26 has an intracranial location, connectingcable8 would likely be entirely intracranial. Alternatively, connecting in embodiments wherein stimulating andrecording circuit26 is implanted underscalp10 or within or attached tocalvarum9, connectingcable8 may be confined entirely to subcutaneous region under thescalp10.

Acatheter anchor29 provides mechanical connection betweenintracranial catheter7 andcalvarum9.Catheter anchor29 is preferably deep to theoverlying scalp10. Such a subcutaneous connectingcable8 provides electrical connection betweenintracranial electrodes246 and stimulating andrecording circuit26.Cable8 may also connect any other sensors, including but not limited to any ofsensory input modalities247, or other stimulating electrodes, medication dispensers, or actuators with stimulating andrecording circuit26.

Sensory feedback is provided to recording and stimulatingunit26 from a multiplicity of sensors, collectively referred to assensory input modalities247. Intracranialrecording electrode array38, previously described, is intracranial in location. Additional sensors, most of which are located extracranially in the preferred embodiment, comprise the remainder ofsensory input modalities247.Sensory input modalities247 provide information to stimulating andrecording unit26. As will be described in greater detail below, such information is processed by stimulating andrecording unit26 to deduce the disease state and progression and its response to therapy.

In one embodiment of the invention, a head-mountedacoustic sensor11 is used to monitor any number of vibratory characteristics such as high frequency head vibration, muscle vibration, and/or speech production. Head-mountedacoustic sensor11 is connected to stimulating andrecording circuit26 with an acousticsensor connecting cable30.

A head-mountedaccelerometer12 is implemented in certain embodiments of the present invention to monitor head movement and position with respect to gravity. Head-mountedaccelerometer12 may be mounted to any structure or structures that enables it to accurately sense a desired movement. Such structures include, for example, the skull base, calvarum, clavicle, mandible, extraocular structures, soft tissues and vertebrae. Head-mountedaccelerometer12 is connected to stimulating andrecording circuit26 with anaccelerometer connecting cable31.

A proximal electromyography (EMG)electrode array45 is also included in certain preferred embodiments of the invention. ProximalEMG electrode array45 includes a positiveproximal EMG electrode13, a referenceproximal EMG electrode14, and a negativeproximal EMG electrode15. As one skilled in the relevant art would find apparent, proximalEMG electrode array45 may include any number of type of electrodes. ProximalEMG electrode array45 is implanted in or adjacent to muscle tissue. In the embodiment illustrated in FIG. 1, proximalEMG electrode array45 is shown implanted within the neck of the human patient. However, it should be understood that this location is illustrative only and that proximalEMG electrode array45 may be implanted in or adjacent to any muscle without departing from the spirit of the present invention.

A proximalacoustic sensor27 may also be implemented in the present invention. Proximalacoustic sensor27 senses muscle vibration and may be used to augment, supplement or replace EMG recording. Also, aproximal accelerometer28 may be used to sense movement, including tremor and voluntary activity, and orientation with respect to gravity. Proximal connectingcable16 provides electrical connection from theproximal EMG electrodes14 and15, proximalacoustic sensor27, andproximal accelerometer28 to stimulating andrecording circuit26. In the illustrative embodiment, these sensors are shown connected to a commonproximal connecting cable16. However, in alternative embodiments, this configuration may include the use of multiple connecting cables or implement other types of communication media without departing from the present invention. It should also be understood from the preceding description that the number of each type of sensor may also be increased or decreased, some sensor types may be eliminated, and other sensor types may be included without departing from the spirit of the present invention.

A distalEMG electrode array47 may also be included in certain embodiments of the present invention. In such embodiments, distalEMG electrode array47 typically includes a positivedistal EMG electrode17, a referencedistal EMG electrode42, and a negativedistal EMG electrode18. Positivedistal EMG electrode17 is connected to stimulating andrecording circuit26 by positive distalEMG connecting cable20. Negativedistal EMG electrode18 is connected to stimulating andrecording circuit26 by negative distalEMG connecting cable21. Referencedistal EMG electrode42 is connected to stimulating andrecording circuit26 by reference distalEMG connecting cable48.

In other embodiments, a distalacoustic sensor19 is connected to stimulating andrecording circuit26 by distal acoustic connectingcable22.Distal accelerometer33 is connected to stimulating andrecording circuit26 by distalaccelerometer connecting cable34.Distal accelerometer33 is connected to stimulating andrecording circuit26 by distalaccelerometer connecting cable34.

In the embodiment illustrated in FIG. 1, distalEMG electrode array47, distalacoustic sensor19, anddistal accelerometer33 are shown located in the shoulder region. However, the distalEMG electrode array47 may be located in other locations, including, for example, the masseter, temporalis, sternocleidomastoid, other portion of the head and neck, pectoralis, torso, abdomen, upper extremities, lower extremities, and other locations. The number of each type of sensor may be increased or decreased, some sensor types may be eliminated, and other sensor types may be included without departing from the spirit of the present invention.

An enclosure-mountedEMG electrode array46 is illustrated in FIG.1. Enclosure-mountedEMG electrode array46 includes enclosure-mountedpositive EMG electrode23, enclosure-mountednegative EMG electrode24 and enclosure-mountedreference EMG electrode25, all of which are attached to thecircuit enclosure44 that encloses stimulating andrecording unit26. Thecircuit enclosure44 is preferably included to provide robustness against potential lead entanglement and fracture. In one particular embodiment,circuit enclosure44 is constructed of titanium and epoxy, or other single or combination of bio-compatible materials. Enclosure-mountedacoustic sensor35 and enclosure-mountedaccelerometer36 are mounted to stimulating andrecording unit43. The number of each type of sensor may be increased or decreased, their locations changed, some sensor types eliminated, and other sensor types included without departing from the spirit of the present invention.

In the embodiment illustrated in FIG. 1,EEG electrodes39,40,41 are provided. The EEG electrodes may be mounted directly to connectingcable8 or may be connected via intermediate cables. Any one of the numerous standard and new electrode configurations, or montages, may be employed in EEG electrodes39-41 without departing from the present invention.

In one embodiment, a proximal peripheralnerve electrode array98 is connected to stimulating andrecording circuit26 by proximal peripheral nerve electrodearray connecting cable100. Proximal peripheralnerve electrode array98 is shown located in the neck region. In this location proximal peripheralnerve electrode array98 can interface with the vagus nerve, spinal accessory nerve, or nerve arising from cervical roots.

A distal peripheralnerve electrode array99 is connected to stimulating andrecording circuit26 by distal peripheral nerve electrodearray connecting cable32. Distal peripheralnerve electrode array99 is shown located by the proximal arm, in position to interface with the brachial plexus or proximal arm nerve. One or more of these peripheral nerve electrode arrays may be implanted in these or other locations, including but not limited to the head, cranial nerves, neck, torso, abdomen, upper extremities, and lower extremities, without departing from the present invention.

In one preferred embodiment, the peripheral nerve electrode arrays are each comprised of three epineural platinum-iridium ring electrodes, each in with an internal diameter approximately 30% larger than that of the epineurium, longitudinally spaced along the nerve. Electrodes of differing dimensions and geometries and constructed from different materials may alternatively be used without departing from the present invention. Alternative electrode configurations include but are not limited to epineural, intrafascicular, or other intraneural electrodes; and materials include but are not limited to platinum, gold, stainless steel, carbon, and other element or alloy.

FIG. 2 is an architectural block diagram of one embodiment of the neurological control system248 of the present invention for modulating the activity of at least one nervous system component in a patient. As used herein, a nervous system component includes any component or structure comprising an entirety or portion of the nervous system, or any structure interfaced thereto. In one preferred embodiment, the nervous system component that is controlled by the present invention includes the globus pallidus internus. In another preferred embodiment, the controlled nervous system component is the subthalamic nucleus.

The neurological control system248 includes one or more implantable components249 including a plurality of sensors each configured to sense a particular characteristic indicative of a neurological or psychiatric condition. One or more intracranial (IC) stimulating electrodes in an IC stimulatingelectrode array37 delivers a neural modulation signal to the same or other nervous system component as that being monitored by thesystem26. One ormore sensors38,51,52,53, and54 sense the occurrence of neural responses to the neural modulation signals. Stimulating andrecording unit26 generates the neural modulation signal based on the neural response sensed by the sensors.

The neurological control system248 preferably also includes apatient interface module55 and asupervisory module56. A control circuit72 (described below) is communicably coupled to thepatient interface module55 and receives signal inputs from and provides signal outputs topatient interface module55 andsupervisory module56. In one preferred embodiment,patient interface module55 andsupervisory module56 remain external to the body of the patient. However either of these devices may be connected via percutaneous leads or be partially or totally implanted without departing from the present invention.

Patient interface module55 andsupervisory module56 facilitate adjustment of control parameters, monitoring of disease state, monitoring of response to therapy, monitoring of stimulating andrecording circuit26, monitoring of impedance and other characteristics of intracranialstimulating electrode array37, monitoring of physiologic parameters, monitoring of vital signs, monitoring of any other characteristic or function of components of the present invention, including but not limited to the stimulating andrecording circuit26, stimulating andrecording unit43,circuit enclosure44,EMG electrode array50,EEG electrode array51,accelerometer array52,acoustic transducer array53, peripheralnerve electrode array54, and intracranialrecording electrode array38. Such monitoring and adjustment is accomplished through the use of any well known bi-directional communication betweencontrol circuit72 andsupervisory module56. In one preferred embodiment, a radio frequency link is employed. In alternative embodiments, other communication technologies, including but not limited to optical, percutaneous, or electromagnetic, may be used.

In one preferred embodiment,patient interface module55 andsupervisory module56 are placed adjacent to the patients garments overlying the implanted stimulating andrecording unit43. Whenneurological control system999 is turned on in this position, a communications handshaking protocol is executed. Communication handshaking routines are known to those or ordinary skill in the art, and they enable establishment of a communication rate and protocol and facilitate mutual identification of devices.Patient interface module55 automatically downloads parameters from stimulating andrecording circuit26 and stores values of such parameters in a memory. When the transfer of these parameter values is complete,patient interface module55 emits a audible signal such as a series of beeps, and the patient turns offpatient interface module55 and removes it from its position overlying the implanted stimulating andrecording unit43. Parameter values may then be retrieved by the patient by a routine including but not limited to a menu driven interface, and the values may be transmitted via telephone conversation or other communication method to a health care professional.Supervisory module56 operates in the same manner with one addition; a step is provided during which the health care professional may upload parameters to stimulating andrecording circuit26 to alter its function including by means of changing parameters including but not limited to control laws gains and thresholds, filter parameters, signal processing parameters, stimulation waveform modes (including at least one of current regulated, voltage regulated, frequency regulated, or pulse width regulated), and stimulation waveform parameters.

Control laws, well known to those of ordinary skill in the field of control theory, are defined by a set of parameters specific to the particular control law. Common parameters include preset gains, threshold levels, saturation amplitudes, sampling rates, and others. Adaptive controllers change in response to the behavior of the system being controlled; as such, in addition to preset parameters, adaptive controllers possess a set of varying parameters. These varying parameters contain information indicative of the behavior of the system being controlled; downloading of these parameters provides one set of measures of the disease state and its response to therapy.

Such monitoring includes observation of time history of disease state, stimulation parameters, response to therapy, and control law parameters, including time-varying adaptive controller parameters. Such adjustments includes modification of actual stimulation parameters and allowable ranges thereof, including but not limited to pulse width, pulse amplitude, interpulse interval, pulse frequency, number of pulses per burst frequency. Adjustments can further include modification of actual control law parameters and allowable ranges thereof, including but not limited to gains, thresholds and sampling rates of said stimulation waveforms.Signal processor71 contains signal processor modules for each of thesensory input modalities247. Signal processing algorithms for each of the saidsensory input modalities247 may be independent. Additionally, signal processing algorithms the saidsensory input modalities247 may be coupled, such that the processing of one of thesensory input modalities247 is dependent on another of thesensory input modalities247. Adjustments may additionally include modification of actual signal processor parameters and allowable ranges thereof, including but not limited to gains, filter cutoff frequencies, filter time constants, thresholds, and sampling rates. In a preferred embodiment, the stimulation and control law parameters are stored in at least one of random access memory and central processing unit registers (not shown).

It is anticipated thatpatient interface module55 is to be used by the patient, a family member or associate, or home health care personnel to monitor the functions and performance of neurological control system248. In such an embodiment, the use of thepatient interface module55 is restricted to monitoring operations; adjustment of stimulation and control parameters is not enabled. However, adjustment of all or a subset of stimulation and control parameters (described below) may be facilitated bypatient interface module55 without departing from the present invention.Supervisory module56, on the other hand, is used by a physician or other health care personnel to monitor function and performance of neurological control system248 and to adjust stimulation and control parameters. Control parameters controlled bypatient interface module55 andsupervisory module56 include allowable stimulation magnitude range, such as maximum combination of stimulation voltage, current, pulse width, pulse frequency, train frequency, pulse train count, pulse train duration. Control parameters may also include variables and constants used to define control laws implemented incontrol circuit72. Such control parameters include, but are not limited to, control law gains197-203, and other parameters for control laws, including but not limited toproportional controller230,differential controller204,integral controller205,nonlinear controller206,adaptive controller207, slidingcontroller208,model reference controller209, and other controllers. In addition, amplitudes for other controller parameters, including but not limited to amplitudes for controller weights210-216 may be set bysupervisory module56. Additionally, the parameters specifying the maximum amplitudes, or saturation values, may be set bysupervisory module56. Control circuit72 (FIG. 12) will be described in detail below.

The majority of the computation accomplished by stimulating andrecording circuit26 is performed insignal conditioning unit76,signal processor71, andcontrol circuit72; the algorithms and behavior of which are determined by corresponding sets of control parameters, of which some may be set by thesupervisory module56 and a typically more restricted set bypatient interface module55. In one embodiment, control parameters further includes signal conditioning parameters. Signal conditioning parameters may include, for example, amplifier gains, filter gains and bandwidths, threshold values, and other parameters. In certain embodiments, control parameters additionally include signal processing parameters, including envelope determinator gains and time constants, filter passbands, filter gains, threshold values, integrator gains, analyzer parameters, disease state estimator parameters, artifact rejecter thresholds, envelope determinator time constants, rectifier parameters, spectral analyzer parameters and timer parameters.

In the illustrative embodiment described herein, control parameters further include spike detector188 (FIG. 9) parameters, spike characterizer189 (FIG. 9) parameters, spike analyzer190 (FIG. 9) parameters, spectral energy characterizer192 (FIG. 9) parameters, spectral energy analyzer193 (FIG. 9) parameters, aggregate disease state estimator195 (FIG. 10) parameters.

In accordance with the present invention, tremor are quantified and monitored by any sensors over time as indicators of disease state. Such sensors include but are not limited toEMG electrode array50,EEG electrode array51,accelerometer array52,acoustic transducer array53, peripheralnerve electrode array54, intracranialrecording electrode array38, and intracranialstimulating electrode array37. In one particular embodiment, the sensed tremor characteristics include, but are not limited to, magnitude, frequency, duration and frequency of occurrence of tremors. Changes in these and other parameters are compared to current levels of, and changes in, treatment parameters. These changes are then used by aggregatedisease state estimator195 to estimate the response to therapy as functions of various electrical stimulation treatment parameters. Electrical stimulation treatment parameters are adjusted bycontrol circuit72 in real-time to provide optimal control of disease state.

Modulation parameters are optimized to achieve at least one of minimization of disease state, minimization of symptoms of disease, minimization of stimulation magnitude, minimization of side effects, and any constant or time-varying weighted combination of these.Patient interface module55 andsupervisory module56 also preferably monitor the function and operation of other components of neurological control system248, including stimulating andrecording unit26 and implanted components249.

Stimulating andrecording unit26 receives and processes signals generated by implanted components249 to provide conditioned signals78-84 to asignal processor71. For each type of implanted components249 coupled to stimulating andrecording unit26,signal conditioning circuit76 preferably includes an associated amplifier and filter. Each amplifier and associated filter is configured to receive and process the signal generated by the associated one of the set ofsensors38,51,52,53, and54.

In the illustrative embodiment, implanted components249 include an electromyography (EMG)electrode array50 which generate EMG signals. Preferably,EMG electrode array50 comprises of all EMG electrodes implemented in the particular embodiment of the present invention. These include, in the exemplary embodiment illustrated in FIG. 1, proximalEMG electrode array45, enclosure-mountedEMG electrode array46 and distalEMG electrode array47.Array50 may also include, for example, EMG electrodes implanted in the head or other location, and surface EMG electrodes.

Implanted components249 also include an electroencephalography (EEG)electrode array51 which generate EEG signals andaccelerometer array52 which generates acceleration signals.EEG electrodes39,40,41 illustrated in FIG. 1 are representative ofEEG electrode array51. EEG electrodes39-41 may be mounted directly to connectingcable8 or connected via intermediate cables.EEG electrode array51 may include more or fewer elements than EEG electrodes39-41 depicted; and any of numerous standard and new electrode configurations, or montages, may be employed without departing from the present invention.

Accelerometer array52, which produces well-known acceleration signals, preferably includes all accelerometers implemented in the patient associated with the present invention. For example, in the embodiment illustrated in FIG. 1,accelerometer array52 includes head-mountedaccelerometer12,proximal accelerometer28, enclosure-mountedaccelerometer36 anddistal accelerometer33.Accelerometer array52 may include more or fewer accelerometers than these accelerometers, and accelerometers of any types and locations may be employed without departing from the present invention.

Acoustic transducer array53 includes all acoustic Sensors utilized by the present invention. In the exemplary embodiment illustrated in FIG. 1,acoustic transducer array53, includes head-mountedacoustic sensor11, proximalacoustic sensor27, enclosure-mountedacoustic sensor35 and distalacoustic sensor19. It should be understood thatacoustic transducer array53 may include more or fewer elements than said acoustic sensors listed above; and any of numerous acoustic sensor types and locations may be employed without departing from the present invention.

Peripheralnerve electrode array54 generates peripheral neural signals, including but not limited to efferent and afferent axonal signals. Preferably, peripheralnerve electrode array54 includes all peripheral nerve electrodes implemented in present invention. For example, in the illustrative embodiment illustrated in FIG. 1, peripheralnerve electrode array54 includes proximal peripheralnerve electrode array98 and distal peripheralnerve electrode array99. The single or plurality of individual peripheral nerve electrode arrays which comprise peripheralnerve electrode array54 may be implanted in the illustrated or other locations, as noted above.

Intracranial (IC)recording electrode array38 generates central neural signals, including but not limited to cortical, white matter, and deep brain nuclear signals. Neural activity to be sensed includes but is not limited to that found in the primary motor cortex, premotor cortex, supplementary motor cortex, somatosensory cortex, white matter tracts associated with these cortical areas, the globus pallidus internal segment, the globus pallidus external segment, the caudate, the putamen, and other cortical and subcortical areas. As one of ordinary skill in the relevant art will find apparent, the present invention may include additional or different types of sensors that sense neural responses for the type and particular patient. Such sensors generate sensed signals that may be conditioned to generate conditioned signals as described below. One example of the placement of these electrodes is described above with reference to the embodiment illustrated in FIG.1. Many others are contemplated by the present invention.

As noted, for each of the different types of sensors included in implanted components249,signal conditioning circuit76 includes an associated amplifier and filter in the illustrative embodiment. Accordingly,signal conditioning circuit76 includes an EMG amplifier59 andfilter66, each constructed and arranged to amplify and filter, respectively, the EMG signals received fromEMG electrode array50. Similarly,signal conditioning circuit76 also includes anEEG amplifier60 andfilter67, accelerometer (ACC) amplifier61 andfilter68, acoustic (ACO) amplifier62 andfilter69, peripheral nerve electrode (PNE) amplifier63 andfilter70 and intracranial (IC) recording electrode (ICRE)amplifier58 andfilter65.

Simplifiers57-63 may be single or multi-channel amplifiers depending upon the number of electrodes with which it interfaces. In one preferred embodiment, amplifiers57-63 are physically located in the same enclosure as filters64-70; that is, in a singlesignal conditioning circuit76. Preferably,signal conditioning circuit76 is physically contained within stimulating andrecording unit102. However, amplifiers57-63 may be located separately from stimulatingrecording unit102. For example, amplifiers57-63 may be affixed to or situated proximate to their associatedelectrode arrays38,50-54. This arrangement facilitates the preamplification of the associated signals generated by the associatedelectrode arrays38,50-54, increasing the signal-to-noise ratio of the signals. Amplifiers57-63 may be any known voltage amplifier now or later developed suitable for amplifying the particular signals generated by their associated electrodes.

As noted, the amplified signals are passed to their associated filters64-70 as shown in FIG.2. As with amplifiers57-59, filters64-70 may be physically separate from or incorporated intosignal conditioning circuit76 and stimulating andrecording unit26. In one preferred embodiment, filters64-70 are low pass filters having a cut-off frequency of, for example, 3,000 Hz. In alternative embodiments, filters64-70 may include a notch filter to remove, for example, 60 Hz noise, or other types of filters appropriate for the type of signals generated by the associatedsensors38,51,52,53, and54. Selection of the appropriate frequencies for the cut-off and notch filter frequencies is considered to be well known in the relevant art and within the scope of the present invention. Filters66-70,65 and64 generate conditioned sensed signals84,83 and78-82, respectively.

Signal processor71 processes the conditioned sensed neural response signals78-84 generated bysignal conditioning circuit76 in accordance with the present invention to determine neural system states.Signal processor71 generally performs well known filtering operations in the time and frequency domains. In one preferred embodiment, the neural system states include one or more physiologic or disease states.Signal processor71, which can be implemented in a fast microprocessor, a DSP (digital signal processor) chip, or as analog circuitry, for example, is described in detail below.

Control circuit72, responsive to thesignal processor71,patient interface module55 andsupervisory module56, adjusts the magnitude of a neural modulation signal in response to the sensed neural response.Signal processor71 extracts relevant information from the sensed conditione signals, andcontrol circuit72 uses this extracted information in the calculation of an output neuromodulation signal (NMS)998.Neuromodulation signal998 subsequently travels alongstimulator output path111 to IC stimulatingelectrode array37. In one embodiment,control circuit72 is a state machine, utilizing current and past system behavior in the calculation of a control signal. In an alternative embodiment,control circuit72 includes an embedded microprocessor to process nonlinear control laws. Alternative embodiments of thecontrol circuit72 appropriate for the particular application may be also be used.

Control circuit72 receives control law selection information, control law parameter information, stimulation waveform parameter range information, stimulation modulation mode, output stage regulation mode, and medication dose and timing information frompatient interface module55 andsupervisory module56. The waveform parameter or parameters which are modulated by control lawoutput signal U997 are determined by the stimulation modulation mode; these parameters include but are not limited to pulse amplitude, pulse width, pulse frequency, pulses per burst, and burst frequency. Selection between regulation of pulse voltage or pulse current as the regulated pulse amplitude is determined by the output stage regulation mode.

Control circuit72 provides stimulation waveform parameter history information, disease state history information, control law state variable history information, control law error history information, control law input variable history information, control law output variable history information, stimulating electrode impedance history information, sensory input history information, battery voltage history information, and power consumption history information topatient interface module55 andsupervisory module56.

Provision of stimulating electrode impedance history information allows monitoring of stimulating electrode performance and functionality. If an electrode is determined to be fractured, shorted, or encapsulated by fibrotic tissue, any of various control law parameters, output stage parameters, and waveform range parameters may be adjusted to allow compensation for these changes. Additionally, the Neuromodulation Signal (NMS)998 may be delivered to different sets of electrodes to insure that it reachesneural tissue250. Sensory input history information allows evaluation of validity of any given sensory input. This is useful in determining the functionality of a given sensor and serves as an indicator for sensor replacement or adjustment of the signal processing parameters or algorithm or the control law parameters or algorithm to continue to generate reliable disease state estimate signals X and control law outputs U despite the loss of any particular individual or set of sensory signals.

Signal processor71 receives amplifier gain setting information, filter parameter information, weighting information, and disease state estimator parameter and algorithm information frompatient interface module55 andsupervisory module56. The function and operation ofpatient interface module55 andsupervisory module56 are described above. As noted,patient interface module55 may be used by the patient or home health care personnel to monitor disease state, stimulation parameters, and response to therapy. Limited adjustment of stimulation parameters and ranges is facilitated.Patient interface module55 may be used by the patient or home health care personnel to provide information to the physician, avoiding the need for an office visit for the obtainment of said information.

Patient information module55 queries signalprocessor71 for present and time histories of monitored values. Time histories of selected variables insignal processor71 andcontrol circuit72 are stored inmemory module240 for subsequent retrieval bypatient interface module55 andsupervisory module56. Selected variables include but are not limited to disease state, tremor frequency, tremor magnitude, EMG magnitude, EMG frequency spectra (EMG magnitude within frequency ranges), and acceleration of limb, head, mandible, or torso. Selected variables may also include disease state, frequency spectra of limb, torso, and head movements, as determined by EMG and accelerometer signals.

Stimulating andrecording unit26 also includes anoutput stage circuit77.Output stage circuit77 takes for an input the control law output signal U, which may be comprised of a single or multiplicity of channels or signals, fromcontrol circuit72. This control lawoutput signal U997 modulates the magnitude of the sequence of waveforms comprising the desired output neuromodulation signal (NMS_D) which is produced byoutput stage circuit77 and delivered via intracranial stimulatingelectrode array37 toneural tissue250.

Output stage circuit77 generates a neuromodulation signal (NMS_D)998 with a magnitude specified by control lawoutput signal U997 received fromcontrol circuit72. In one preferred embodiment, the waveform parameter of the desired output neuromodulation signal (NMS_D) which is modulated by control law output signal U is the stimulation current magnitude. The capability to specifically modulate the stimulation current confers efficacy resistance to perturbations or changes in electrode impedance. Presently implanted systems suffer from a decline in efficacy which results from an increase in electrode impedance which accompanies the normal tissue response to a foreign body, that is fibrotic encapsulation of the electrode. In this design taught in the present invention, a the magnitude of the current delivered to theneural tissue250 will not vary as the electrode becomes encapsulated with fibrotic tissue or its impedance otherwise changes over time. A further advantage conferred by current modulation is the ability to monitor electrode impedance. If a current-modulated waveform, preferably a sinusoid, is delivered to the electrodes, and the resultant voltage potential waveform is concurrently monitored, the relative magnitudes and phase shifts of these waveforms may be computed. From these magnitudes and phases, the complex impedance and hence the resistive and capacitive components of the electrode impedance may be calculated.

In an alternative embodiment, the waveform parameter of the desired output neuromodulation signal (NMS_D) which is modulated by control lawoutput signal U997 is the stimulation voltage magnitude. This design would not enjoy the independence of the stimulation current and efficacy from impedance variation enjoyed by the embodiment described above. If fibrosis was uneven around the surface of the electrode, this embodiment would avoid potentially undesirably large current densities along narrow tracts of remaining low resistance unfibrosed regions ofneural tissue250.

Alternatively, regulation of stimulus pulse width may be desired. In certain circuit implementations, the available resolution or bits for specifying the magnitude of pulse width may be greater than that for specifying the pulse voltage or current. In such a case, if finer control of the magnitude of Neuromodulation signal (NMS)998 is desired than is provided by the control of pulse current or pulse voltage, then it may be desirable to modulate the pulse width. Furthermore, the spatial neuron recruitment characteristics of a pulse width modulated neuromodulation signal (NMS)998 may provide a more linear, predictable, or controllable response than that obtained with current or voltage modulation. Selection between regulation of pulse voltage, pulse current, or pulse width as the regulated pulse amplitude parameter is determined by the output stage regulation mode, which may be set usingsupervisory module56. In alternative embodiments, the modulation of pulse frequency and the modulation of the number of pulses per burst are regulated. As one of ordinary skill in the relevant art would find apparent. Other such characteristics may be regulated in addition to or instead of the ones noted above.

Output stage circuit77 includes apulse generator73, anoutput amplifier74 and amultiplexor75.Pulse generator73 generates one or more stimulus waveforms, each of which is characterized by several parameters, including but not limited to pulse amplitude, pulse width, pulse frequency, number of pulses per burst, and burst frequency. As noted above, pulse amplitude may comprise pulse voltage or pulse current. Preferably, each of these parameters may be independently varied, as specified by control lawoutput signal U997 generated bycontrol circuit72. As noted, the stimulus waveforms comprising the neuromodulation signal (NMS) generated byoutput stage circuit77 are applied to patient through intracranial (IC) stimulatingelectrode array37.Pulse generator73 generates a single waveform when single channel stimulation is to be used, and a plurality of waveforms when multiple channel stimulation is to be used. It may generate monophasic or biphasic waveforms.

In one preferred embodiment, charge balanced biphasic waveforms are produced. Those skilled in the art are aware that the net charge contained in a given pulse is given by the time integral of the stimulus current over the duration of the pulse. In a biphasic configuration, a pair of pulses of opposite polarity is generated, and the pulse current amplitude and pulse width are chosen such that the charge amplitude is equal in magnitude and opposite in polarity. In some cases, it is desirable for the pulses comprising the biphasic pulse pair to have different amplitudes; in this case, the pulse widths are chosen to insure equal and opposite charges so the pulse par introduces zero net charge to theneural tissue250. The capability to deliver pulse pairs with balanced charges is yet a further advantage conferred by the current regulation mode described above.

Even though the waveform parameters of the pulse pairs are calculated to deliver a zero net charge, in practice, noise and precision limitations in computation and resolution limitations and nonlinearities in the digital to analog conversion and amplification stages may result in slight imbalances in the pulse pair charges. Over time, this can result in the delivery of a substantial accumulated net charge to the neural tissue. To eliminate this potential for net charge delivery to neural tissue, a direct current (DC) blocking capacitor is employed. This is a technique that is well known to those or ordinary skill in the art. In one preferred embodiment, a DC blocking capacitor is included withinmultiplexor75 in series withstimulator output path111.

Typically, multichannel stimulation is used in the case of bilateral stimulation. Since the disease progression is typically asymmetrical, and the normal motor control systems governing movement on the left and right side of the body are also highly independent of each other, the delivery of treatment to the left and right sides of the body should be controlled separately. This represents one need for a multiple channel neuromodulation signal (NMS)998. Multichannel stimulation is also expected to be beneficial in treating patients with variable involvement of different limbs. For example, the magnitude neuromodulation of a portion of the globus pallidus required to achieve optimal controls of arm tremor may be different from the optimal level of neuromodulation of separate portion of the globus pallidus to achieve optimal control of leg tremor. In this case, separate electrodes or electrode pairs are required to deliver optimal levels of neuromodulation to control tremor in these two regions of the body. Correspondingly, these separate electrodes or electrode pairs will be driven by separate neuromodulation signal (NMS) channels, necessitating a multichannel system.

A further need for multichannel neuromodulation signal (NMS) is the control of multiple symptoms of the movement disorder and the side effects arising from pharmacologic treatment. Optimal control of tremor, dyskinesias, and rigidity are not achieved by modulation of the same site at the same intensity. For this reason, multiple and separately controlled channels of neuromodulation are required to simultaneously achieve optimal control of these multiple symptoms and side effects. Each of these symptoms and side effects may be considered to comprise one or more element in a multivariable disease state. A multivariable control system will be required to optimally drive each of these disease state elements to its desired value, ideally toward a target minimum level and thus achieve optimal control of this multiplicity of disease states. This multivariable control system may be implemented as multiple independent control laws each with separate though potentially overlapping sensory inputs or as a multivariable control law matrix.

Stimulation via each of the multiple channels comprising the neuromodulation signal (NMS)998 is characterized by separate though possibly overlapping sets of one or more of the following parameters: stimulation voltage, stimulation current stimulation frequency of pulses within the same burst, frequency of bursts, pulse width, pulses per burst, duration of burst, and interpulse interval. The stimulus waveforms are amplified byoutput amplifier74 to generate an amplified stimulus waveform. Specifically,pulse generator73 transfers information tooutput amplifier74 which includes information that uniquely specifies the desired stimulation waveform. In a preferred embodiment, the information is in the form of an analog signal which represents a sealed version of the voltage or current waveform to be delivered to the tissue. It should be understood that other forms of the signal generated bypulse generator73 may be used, including combinations of at least one of analog and digital representations.Output amplifier74 performs amplification and regulation of the received stimulus waveform generated by thepulse generator73. This may be regulation of electrical current to achieve desired voltage or regulation of electrical voltage to achieve desired current, depending on whether a voltage or current waveform is to be delivered to the nervous system component.

As one skilled in the relevant art would find apparent, voltage regulation is simpler to implement, and is a technique which is commonly used by many conventional stimulators. Current regulation, on the other hand, is more complex but allows for more precise control of the applied stimulation. Current regulation insures that a specified amount of current is delivered, regardless of the impedance of the electrode. Current regulation is advantageous in that it allows for precise control of stimulation level despite changes in electrode impedance which invariably occur over time. Since electrode impedances often change, typically increasing as they become encapsulated by fibrosis, current regulation is preferred to avoid the decrease in current which would occur if voltage regulation were to be used in such circumstances.

The amplified stimulus waveform generated byoutput amplifier74 is conducted along stimulatoramplifier output path112 tomultiplexor75.Multiplexor75 allows for delivery of a stimulating electrode output signal (SEOS) to the intracranialstimulating electrode array37, multiplexed with sensing of a stimulating electrode input signal (SEIS). Specifically,multiplexor75 serves to alternately connect intracranial stimulating electrode (ICSE)array37 tooutput amplifier74 and intracranialstimulating electrode amplifier57. Connection of intracranial stimulating electrode (ICSE)array37 tooutput amplifier74 facilitates delivery of neural modulation signal to neural tissue, while connection of intracranial stimulating electrode (ICSE)array37 to intracranial stimulatingelectrode amplifier57 facilitates monitoring of neural activity in the region being stimulated.

Multiplexor75 allows delivery of neural modulation signals to neural tissue concurrent with monitoring of activity of same neural tissue; this facilitates real-time monitoring of disease state and response to treatment. Stimulating electrode output signal (SEOS) fromoutput amplifier74 is conducted along stimulatoramplifier output path112 tomultiplexor75.Multiplexor75 conducts output fromoutput amplifier74 tostimulator output path111 which conducts the stimulating electrode output signal to intracranialstimulating electrode array37. To facilitate periodic sampling of neural activity in tissue being stimulated,multiplexor75 alternatively conducts signal arising from stimulated tissue via intracranial stimulating electrode array (ICSE)37 andstimulator output path111 to multiplexed stimulatorrecording input path113 and intracranialstimulating electrode amplifier57.

Multiplexor75 selectively conducts the signal on multiplexed stimulatorrecording input path113 toamplifier57.Multiplexor75 may alternate conduction betweenpath111 andpath112 orpath113 using temporal multiplexing, frequency multiplexing or other techniques to allow concurrent access to the intracranial stimulating electrode (ICSE)array37 for modulation of tissue activity and monitoring of tissue activity. Temporal multiplexing is a well known technique and frequency multiplexing of stimulation and recording signals in known to those skilled in the art. In this embodiment, temporal multiplexing is accomplished by alternately connectingstimulator output path111 to stimulatoramplifier output path112 and multiplexed stimulatorrecording input path113. In one embodiment, frequency multiplexing is accomplished by passing a band-limited portion of stimulating electrode output signal SEOS via thestimulator output path111 to intracranialstimulating electrode array37 while simultaneously monitoring activity on intracranialstimulating electrode array37 within a separate frequency band, thereby generating a stimulating electrode input signal SEIS. Thus, stimulating electrode input signal SEIS is conducted from the intracranialstimulating electrode array37 tostimulator output path111 tomultiplexor75 and via multiplexed stimulatorrecording input path113 to intracranial stimulatingelectrode array amplifier57.

Multiplexor75 facilitates conduction between stimulatoramplifier output path112 and multiplexed stimulatorrecording input path113 to allow automated calibration. In this mode, a calibration signal of known amplitude is generated bypulse generator73 and amplified byoutput amplifier74 which, for calibration purposes, delivers a voltage regulated signal via stimulatoramplifier output path112 tomultiplexor75.Multiplexor75 conducts amplified calibration signal to multiplexed stimulatorrecording input path113 which conducts signal to intracranialstimulating electrode amplifier57.

Although not included in the illustrative embodiment, multiplexed or intermittent connection of stimulatoramplifier output path112 to the inputs of at least on of the other amplifiers, including EMG amplifier59,EEG amplifier60, accelerometer amplifier61, acoustic amplifier62, peripheral nerve electrode amplifier63, and intracranialrecording electrode amplifier58, may be implemented without departing from the present invention. The same multiplexed connections may be used to calibrate thepulse generator73 andoutput amplifier74.

Referring to FIG. 15, an analog switch may be used to connect one or an opposing polarity pair of Zener diodes across the noninverting and inverting inputs of intracranialrecording electrode amplifier58. In this configuration, the Zener diodes would limit the maximal amplitude of the calibration signal in one or both polarities to known values, allowing for accurate calibration of intracranialrecording electrode amplifier58. The analog switch may then be deactivated, removing the cathode of the single or pair of Zener diodes from the input of intracranialrecording electrode amplifier58 to allow measurement of stimulating electrode output signal (SEOS) for calibration ofpulse generator73 andoutput amplifier74. This is described in greater detail below.

Multiplexor75 also facilitates conduction between stimulatoramplifier output path112, multiplexed stimulatorrecording input path113, andstimulator output path111 to allow measurement of impedances of components of intracranialstimulating electrode array37. In this electrode impedance measurement mode, a three way connection between stimulatoramplifier output path112, multiplexed stimulatorrecording input path113, andstimulator output path111 is created. Whenoutput amplifier74 is operated in current regulated mode, it delivers an SEOS of known current viastimulator output path111 to intracranialstimulating electrode array37. The voltages generated across the elements of intracranialstimulating electrode array37 generally are the products of the electrode impedances and the known stimulating currents. These voltages are sensed as the stimulating electrode input signal SEIS by the intracranial stimulatingelectrical amplifier57.

Reference module116 contains memory registers in which control law reference values are stored. Such reference values include but are not limited to target disease state levels, target symptom levels, including target tremor level, and threshold levels. Threshold levels include but are not limited to disease and symptom levels, including tremor threshold levels. Neural modulation amplitude may be increased when at least one of disease state and symptom level exceed the corresponding threshold. Similarly neural modulation amplitude may be decreased or reduced to zero when either the disease state or symptom level falls below the corresponding threshold.

Reference module116 is connected topatient interface module55, facilitating both monitoring and adjustment of reference values by patient.Reference module116 is also connected tosupervisory module56, facilitating both monitoring and adjustment of reference values by physician or other health care provider.Supervisory module56 may be used by the neurologist, neurosurgeon, or other health care professional, to adjust disease state reference R values for the one or more control laws implemented incontrol circuit72. The disease state reference R values specify the target level at which the corresponding disease states are to be maintained, as quantified by the disease state estimate X values, providing reference values for control laws implemented in control law circuit block231 (FIG. 11; discussed below) and contained withincontrol circuit72.Reference module116 may also receive input fromcontrol circuit72, facilitating the dynamic adjustment of reference disease state “r” (discussed below).Reference module116 may additionally receive input from disease state estimator module array (DSEMA)229 (FIG. 11; discussed below) and aggregate disease state estimator195 (FIG. 11; discussed below) and components ofsignal processor71, for use in dynamically determining reference disease state “r”.

FIG. 10 is a schematic diagram ofsignal processor71. In this illustrative embodiment,signal processor71 includes a disease stateestimator module array229 that includes one or more signal processor modules that generate a quantitative estimate of at least one disease state or parameter thereof based upon its respective input. For example, magnitude of tremor in the 3 to 5 Hz range represents one possible representation of a disease state. This could be an absolute or normalized quantification of limb acceleration in meters per second squared. This component of the disease state would be calculated almost exclusively from sensory feedback fromaccelerometer array52. Another possible disease state is the frequency of occurrence of episodes of tremor activity per hour. This element of the disease state may be estimated from any of several of the sensory feedback signals. In this case, the most accurate representation of this disease state element is obtained by applying a filter such as a Kalman filter to calculate this parameter based upon a weighted combination of the sensory feedback signals. Such weighting coefficients are calculated from quantified measures of the accuracy of and noise present upon each sensory feedback channel.

In the illustrative embodiment, disease stateestimator module array229 includes anEMG signal processor233,EEG signal processor234,accelerometer signal processor235,acoustic signal processor236, peripheral nerve electrode (PNE)signal processor237, intracranial recording electrode (ICRE)signal processor238, and intracranial stimulating electrode (ICSE)signal processor239. It should be understood that other signal processors may also be included in thearray229. Inputs to these modules include conditionedEMG signal path78, conditionedEEG signal path79, conditionedaccelerometer signal path80, conditionedacoustic signal path81, conditioned peripheral nerve electrode (PNE)signal path82, conditioned intracranial recording electrode (ICRE)signal path83, and conditioned intracranial stimulating electrode (ICSE)signal path84, respectively. Communication between these modules is facilitated. The output(s) of each of the modules is connected to an aggregatedisease state estimator195. Aggregatedisease state estimator195 generates a single or plurality of disease state estimates “X” indicative of state of disease and response to treatment.

In the preferred embodiment, the acceleration of at least one of the affected limb and the head, each of which is sensed as a sensory feedback channel by an element of theaccelerometer array52, serves as respective elements in the disease state estimate X. These elements of disease state estimate X are inputs to respective control laws implemented incontrol circuit72, of input to the control law. A control law governing the function of a proportional controller using acceleration as its single sensory feedback channel is given by equation (1):

u₁=0.3166 (V*s²/m)*ACC  (1)

and if

u₂=0.6333 (V*s²/m)*ACC  (2)

where u₁and u₁are the stimulation voltage given in volts; and ACC is the limb, mandible, or head acceleration given in meters per second squared (m/s²).

In equation (1), the stimulation site is the ventroposterolateral pallidum, the output stage mode is voltage regulated, the waveform is a continuous train of square waves, the amplitude u₁is given in volts (typically approximately 1 volt), and the remaining stimulation parameters include a pulse width of 210 microseconds, and a stimulation frequency of 130 Hz. In equation (2), the stimulation site is the ventral intermediate thalamic nucleus (Vim), the output stage mode is voltage regulated, the waveform is an intermittent train of square waves with an on time of 5 minutes and an off time of 45 seconds, the amplitude u₂is given in volts (typically approximately 3 volts), and the remaining stimulation parameters include a pulse width of 60 microseconds, and a stimulation frequency of 130 Hz.

In one preferred embodiment, the ACC signal represents the average acceleration over a finite time window, typically 15 to 60 seconds. This effective lowpass filtering provides a stable sensory feedback signal for which a proportional control law is appropriate. If stability and performance requirements dictate, as is familiar to those practiced in the art of feedback control, other components, including an integrator and a differentiator may be added to the control law to produce a proportional-integral-differential (PID) controller, as needed.

One preferred embodiment also includes electromyographic (EMG) signals as sensory feedback in the calculation of at least one element of the disease state estimate X which is an input to the control law. As discussed in the section describingEMG signal processor233, the EMG signals are rectified byfull wave rectifier123, passed throughenvelope determiner124, passed through severalbandpass filters125,127,129,131,133 and associatedthreshold discriminators126,128,130,132,134 and then passed in parallel to each ofintegrator135 andcounter136.Integrator135 generates an output which is a weighted function of it inputs and represents the average magnitude of tremor activity over a given time window −w/2 to +w/2. A simplified representation of this is given by equation (3):$\begin{array}{cc}{\mathrm{<figure-callout\; label="u"\; filenames="US06819956-20041116-D00001.png,US06819956-20041116-D00004.png"\; state="\{\{state\}\}">u</figure-callout>}}_3={\int }_{-w/2}^{w/2}X_{\mathrm{EMG}}·t& \left(3\right)\end{array}$

over a given time window −w/2 to +w/2. A simplified representation of this is given by the equation:

As is familiar to those skilled in the art of control theory, an integral controller is marginally stable. To confer stability to this control law, the equivalent of a finite leak of the output magnitude u₄to zero is added to maintain stability. A more general form of this equation is given by equation (4):$\begin{array}{cc}·{\mathrm{<figure-callout\; label="C"\; filenames="US06819956-20041116-D00004.png,US06819956-20041116-D00011.png"\; state="\{\{state\}\}">C</figure-callout>}}_1\frac{\partial u_4}{t}+{\mathrm{<figure-callout\; label="C"\; filenames="US06819956-20041116-D00001.png,US06819956-20041116-D00004.png"\; state="\{\{state\}\}">C</figure-callout>}}_2·u_4={\mathrm{<figure-callout\; label="B"\; filenames="US06819956-20041116-D00004.png,US06819956-20041116-D00011.png"\; state="\{\{state\}\}">B</figure-callout>}}_1·\frac{\partial {\stackrel{\_}{X}}_{\mathrm{EMG}}}{t}+{\mathrm{<figure-callout\; label="B"\; filenames="US06819956-20041116-D00001.png,US06819956-20041116-D00004.png"\; state="\{\{state\}\}">B</figure-callout>}}_2·{\stackrel{\_}{X}}_{\mathrm{EMG}}& \left(4\right)\end{array}$

Shown as a system function, the control law output U is given as the product of a transfer function H(s) and the disease estimate X, the input to the control law:

u(s)(C₁·s+C₂)=X_EMG(s)(B₁·s+B₂)  (5)

$\begin{array}{cc}\frac{u\left(s\right)}{X_{\mathrm{EMG}}\left(s\right)}-\frac{{\mathrm{<figure-callout\; label="B"\; filenames="US06819956-20041116-D00004.png,US06819956-20041116-D00011.png"\; state="\{\{state\}\}">B</figure-callout>}}_1·s+B_2)}{\left({\mathrm{<figure-callout\; label="C"\; filenames="US06819956-20041116-D00004.png,US06819956-20041116-D00011.png"\; state="\{\{state\}\}">C</figure-callout>}}_1·s+C_2\right)}& \left(6\right)\\ H\left(s\right)=\frac{u\left(s\right)}{X_{\mathrm{EMG}}\left(s\right)}-\frac{\left({\mathrm{<figure-callout\; label="B"\; filenames="US06819956-20041116-D00004.png,US06819956-20041116-D00011.png"\; state="\{\{state\}\}">B</figure-callout>}}_1·s+B_2\right)}{\left({\mathrm{<figure-callout\; label="C"\; filenames="US06819956-20041116-D00004.png,US06819956-20041116-D00011.png"\; state="\{\{state\}\}">C</figure-callout>}}_1·s+C_2\right)}& \left(7\right)\end{array}$

One such control law with an appropriate time response is given by:$\begin{array}{cc}H\left(s\right)=\frac{u\left(s\right)}{X_{\mathrm{EMG}}\left(s\right)}=G_{V/\mathrm{EMG}}\frac{\left(0.1·s+1\right)}{\left(2·s+1\right)}& \left(8\right)\end{array}$

where G_V/EMGis the gain in neuromodulation signal (NMS) (volts per volt of EMG signal).

For intramuscular EMG electrodes, signal amplitudes are on the order of 100 microvolts. For neuromodulation signal (NMS) parameters of 2 volts amplitude, 60 microseconds pulse width, 130 Hz stimulation frequency, the appropriate overall gain G′_V/EMGis 20,000 volts_NMS/volts_EMG. Since the preamplifier stage performs amplification, 1000, in the preferred embodiment, the actual value for G_V/EMGas implemented in the control law is 20 volts_NMS/volts_{PREAMPL EMG}.

Disease state estimator195 determines estimates of disease state including but not limited to long-term, or baseline, components, circadian components, postprandial components, medication induced alleviation of components, medication induced components, and future predicted behavior of said components. Output ofdisease state estimator195 includes output ofobserver228, depicted in FIG. 11, which makes use of an adaptive model of disease behavior to estimate disease states which are not directly detectable from sensors. Such sensors, provide input to the adaptive model to correct state estimates and model parameters. Each of the signal processor modules in disease stateestimator module array229 are described below.

FIG. 3 is a block diagram of intracranial recording electrode (ICRE)signal processor238 and intracranial stimulating electrode (ICSE)signal processor239, each of which are included withinsignal processor71 in the illustrative embodiment illustrated in FIGS. 2 and 10. ICREsignal processor module238 and ICSEsignal processor module239 process signals from one or more intracranial electrodes, including but not limited to those comprising intracranialrecording electrode array38 and intracranialstimulating electrode array37. As noted, intracranial stimulatingelectrode array37 is comprised of one or more intracranial stimulating electrodes while intracranialrecording electrode array38 is comprised of one or more intracranial recording electrodes.

Input toICRE signal processor238 is conditioned intracranial recording electrode (ICRE)signal path83 noted above. This input is connected to aspike detector85 which identifies action potentials. Spike detection techniques are well known to those skilled in the art and generally employ low and high amplitude thresholds. Waveforms having amplitudes greater than the low threshold and lower than the high threshold are determined to be action potentials. These thresholds may be predetermined or adjusted manually usingsupervisory module56 or may be adapted in real-time by an algorithm which sweeps the threshold through a range of values to search for values at which action potential spikes are consistently recorded. The low amplitude threshold is set above the amplitude of background noise and that of nearby cells not of interest, and the high amplitude threshold is set above the amplitude of the desired action potentials to allow their passage while eliminating higher amplitude noise spikes, such as artifacts arising from electrical stimulation currents. Bandpass, notch, and other filtering techniques may also be used to improve signal to noise ratio and the sensitivity and specificity of spike detectors. Individual neuron action potentials are usually recorded using fine point high-impedance electrodes, with impedances typically ranging from 1 to 5 megohms. Alternatively, larger lower-impedance electrodes may be used for recording, in which case the signals obtained typically represent aggregate activity of populations of neurons rather than action potentials from individual neurons.

Spike detector85 passes the waveform(s) to aspike characterizer86.Spike characterizer86 determines firing patterns of individual neurons. The patterns include, for example, tonic activity, episodic activity, and burst firing.Spike characterizer86 calculates parameters that characterize the behavior of the individual and groups of neurons, the activity of which is sensed by intracranialrecording electrode array38. In one embodiment, the characterization includes parameterization of recorded action potentials, also referred to as spikes, bursts of spikes, and overall neural activity patterns. This parameterization includes, but is not limited to, calculation of frequencies of spikes, frequencies of bursts of spikes, inter-spike intervals, spike amplitudes, peak-to-valley times, valley-to-peak times, spectral composition, positive phase amplitudes, negative phase amplitudes, and positive-negative phase differential amplitudes. These parameters are depicted in FIG.14 and are discussed below. Based on these parameterization, spikecharacterizer86 discriminates individual spikes and bursts originating from different neurons. This discrimination facilitates serial monitoring of activity of individual and groups of neurons and the assessment and quantification of activity change, reflective of change in disease state and of response to therapy.

Aspike analyzer87 receives as input the parameters fromspike characterizer86.Spike analyzer87 extracts higher level information, including but not limited to average spike frequencies, average interspike intervals, average amplitudes, standard deviations thereof, trends, and temporal patterning. By comparing current spike frequency rates to historical spike frequency data,spike analyzer87 additionally calculates the rates of change of spike parameters. Prior trends and current rates of change may then be used to predict future behaviors. Rates of change of the parameters include but are not limited to autocorrelation and digital filtering.

Spike analyzer87 may receive additional input from accelerometers, including but not limited to at least one of head mountedaccelerometer12,proximal accelerometer28, enclosure mountedaccelerometer36, anddistal accelerometer33.Spike analyzer87 may receive indirect input from accelerometers, such as from conditioned or processed signals arising therefrom. This may include, for example, the signal transmitted by conditionedaccelerometer signal path80.

Spike analyzer87 may also receive additional input fromEMG arrays50, such as a proximalEMG electrode array45, enclosure-mountedEMG electrode array46, or distalEMG electrode array47.Spike analyzer87 may receive indirect input from suchEMG electrode arrays50, such as from conditioned or processed signals arising therefrom, including but not limited to the signal transmitted by conditionedEMG signal path78.

These additional inputs from accelerometers and EMG arrays facilitates the characterization of neuronal firing patterns relative to activity of muscle groups and movement of joints, including but not limited to characterization of neuronal spike amplitudes and tuning of firing to movement, including but not limited to movement velocity and direction. The characterization may be used to assess functioning of the sensorimotor system, including but not limited to motor response time, and to measure the disease state and response to therapy.

Intracranial recording electrode (ICRE) single unit-based (SU)disease state estimator88 receives input fromspike characterizer86 and/or spikeanalyzer87.Spike analyzer87 provides higher level information, including but not limited to average spike frequencies, average interspike intervals, average amplitudes, standard deviations thereof, trends, and temporal patterning todisease state estimator88 . These inputs are representative of the current neuronal activity in the tissue from which the intracranial recording electrodes (ICRE) are recording. ICRE SUdisease state estimator88 may also receive input representative of one or more signals, including desired neuronal activity, fromcontrol circuit72. The ICRE SU disease state estimate X_ICRE—SUcalculated by ICRE SUdisease state estimator88, may be comprised of a single or a plurality of signals, consistent with a representation of the disease state by a single or a multitude of state variables, respectively. The ICRE MU disease state estimate X_{ICRE MU}calculated by ICRE MUdisease state estimator88, may be comprised of a single or a plurality of signals, each representative of multiunit neurophysiological signals, i.e. reflective of concurrent activity of numerous neurons. Both ICRE SU disease state estimate X_{ICRE SU}and ICRE MU disease state estimate X_ICRE—MUare output to aggregatedisease state estimator195.

Referring to FIG. 3, conditioned intracranial recording electrode (ICRE)signal path83 additionally connects to filter101.Filter101 is preferably of the bandpass type filter. In one embodiment, thebandpass filter101 has a passband of 0.1 to 100 Hz, although other ranges may be used. Output offilter101 connects tospectral energy characterizer102, which may be implemented in any of several hardware or software forms. For example, in one embodiment, thespectral energy characterizer102 is implemented using real-time fast Fourier transform (FFT) techniques. Alternatively, other digital or analog techniques may also be used.

It should be understood that inputs and outputs fromspike detector85, spikecharacterizer86,spike analyzer87,disease state estimator88,filter101,spectral energy characterizer102,spectral energy analyzer103, anddisease state estimator104 may be comprised of individual signals or a plurality of signals. Further,spike detector85, spikecharacterizer86,spike analyzer87,disease state estimator88,filter101,spectral energy characterizer102,spectral energy analyzer103, anddisease state estimator104 may each have different parameters and signal processing characteristics for each of the multiple signals processed. Because baseline neuronal firing rates differ among various anatomical and functional regions of the brain, and their involvement in disease states and susceptibility to change in firing patterns varies, the respective signal processing circuitry and logic will vary correspondingly. For example, baseline firing rates among neurons in the globus pallidus externus are approximately 43 Hz and those in the globus pallidus internus are 59 Hz.

The input to intracranial stimulating electrodeICSE signal processor239, referred to above as conditioned intracranial stimulating electrode (ICSE)signal path84, connects to spikedetector89.Spike detector89 identifies action potentials in a manner similar to that described above with reference to spikedetector85. Intracranial stimulating electrodeICSE signal processor239 performs a similar set of functions as intracranial recording electrodeICRE signal processor238 on a different set of sensory feedback signals. As noted above, spike detection techniques are well known to those skilled in the art.

Spike detector89 passes waveforms to spikecharacterizer90, which uses well known techniques to calculate parameters than characterize the behavior of the individual and groups of neurons, the activity of which is sensed by intracranial stimulatingelectrode array37. As noted above with respect to spikecharacterizer86, this characterization may include parameterization of spikes, bursts of spikes, and overall neural activity patterns. Similarly, the parameterization may include calculation of spike frequencies, burst frequencies, inter-spike intervals, amplitudes, peak-to-valley times, valley-to-peak times, spectral composition, positive phase amplitudes, negative phase amplitudes, and positive-negative phase differential amplitudes. Such characterization of neural spikes is known to those skilled in the art of neurophysiology. Based on this parameterization, spikecharacterizer90 discriminates individual spikes and bursts originating from different neurons. As noted, such discrimination facilitates serial monitoring of activity of individual and groups of neurons and the assessment and quantification of activity change, reflective of change in disease state and of response to therapy.

Spike analyzer91 receives the parameters fromspike characterizer90, and extracts higher level information, including average spike frequencies, average interspike intervals, average amplitudes, standard deviations thereof, trends, and temporal patterning. The function and operation ofspike analyzer91 is similar to that described herein with reference to spikeanalyzer87. Similarly, spikeanalyzer91 may receive additional input directly or indirectly from accelerometers and/or EMG arrays to facilitate the characterization of neuronal firing patterns relative to activity of muscle groups and movement of joints. This may include, for example, characterization of neuronal spike amplitudes and tuning of firing to movement, including but not limited to movement velocity and direction. Such characterization may be used to asses functioning of the sensorimotor system, including but not limited to motor response time, and to measure the disease state and response to therapy.

Intracranial stimulating electrode (ICSE) single unit-based (SU)disease state estimator92 receives input from either or bothspike characterizer90 andspike analyzer91. ICSE SUdisease state estimator92 receives input representative of the current neuronal activity fromspike characterizer90. ICSE SUdisease state estimator92 may receive input representative of at least one of several signals, including desired neuronal activity, actual neuronal activity, and the difference between these quantities. The ICSE SU disease state estimate, calculated by ICSE SUdisease state estimator92, may be comprised of a single or a plurality of signals, consistent with a representation of the disease state by a single or a multitude of state variables, respectively.

As with intracranial recordingelectrode signal processor238, inputs and outputs fromspike detector89, spikecharacterizer90,spike analyzer91,disease state estimator92,filter106,spectral energy characterizer107,spectral energy analyzer108, anddisease state estimator109 may include individual or a plurality of signals, and each may have different parameters and signal processing characteristics for each of the multiple signals processed. Because baseline neuronal firing rates differ among various anatomical and functional regions of the brain, and their involvement in disease states and susceptibility to change in firing patters varies, the respective signal processing circuitry and logic varies correspondingly.

FIG. 4 is a schematic diagram of aglobus pallidus119 implanted with stimulating and recording electrodes.Intracranial catheter7 is shown in place with electrode of the intracranialstimulating electrode array37 located within the globus pallidus internus (Gpi)120, including globus pallidus internus internal segment (GPi,i)94 and globus pallidus internus external segment (GPi,e)95, and globus pallidus externus (GPe)96.

Intracranialstimulating electrodes1 and2 are shown implanted in the globus pallidus internus internal segment (GPi,i)94; and intracranialstimulating electrodes3 and4 are shown implanted in the globus pallidus internus external segment (GPi,e)95 and globus pallidus externus (GPe)96, respectively. It should be understood that this arrangement is illustrative of one preferred embodiment, and other stimulating and recording electrode configurations may be employed without departing from the present invention.

Theoptic tract97 is shown in its close anatomical relationship to the globus pallidus internus (Gpi)120. The risk inherent in treatment modalities involving irreversible tissue ablation should be apparent; stereotactic errors of only one to several millimeters during lesioning of the globus pallidus internus (Gpi)12o may result in irreversible damage or complete destruction of theoptic tract97. Furthermore, the advantage of a system which dynamically adjusts the amplitude of inhibitory electrical stimulus to theglobus pallidus119 to minimize said amplitude offers the potential advantage of minimization of side effects including interference with visual signals of theoptic tract97 and prevention of overtreatment.

Intracranialstimulating electrodes1,2,3,4 are shown implanted in the GPi,i94, GPi,e95,GPe96, respectively. This is one preferred embodiment. Numerous permutations of electrode stimulation site configuration may be employed, including more or fewer electrodes in each of these said regions, without departing from the present invention. Electrodes may be implanted within or adjacent to other regions in addition to or instead of those listed above without departing from the present invention, said other reasons including but not limited to the ventral medial Vim thalamic nucleus, other portion of the thalamus, subthalamic nucleus (STN), caudate, putamen, other basal ganglia components, cingulate gyrus, other subcortical nuclei, nucleus locus ceruleus, pedunculopontine nuclei of the reticular formation, red nucleus, substantia nigra, other brainstem structure, cerebellum, internal capsule, external capsule, corticospinal tract, pyramidal tract, ansa lenticularis, white matter tracts, motor cortex, premotor cortex, supplementary motor cortex, other motor cortical regions, somatosensory cortex, other sensory cortical regions, Broca's area, Wernickie's area, other cortical regions, other central nervous system structure, other peripheral nervous system structure, other neural structure, sensory organs, muscle tissue, or other non-neural structure.

Referring to FIGS. 3 and 4, a small percentage of cells in the globus pallidus internusinternal segment94 and globus pallidus internusexternal segment95 exhibit tremor-synchronous discharges. As noted, at least one of single unit recordings from individual cells and multiple unit recordings from a plurality of cells are processed bysignal processor71. The single and multiple unit recordings may be derived from signals arising from intracranial stimulatingelectrode array37, intracranialrecording electrode array38, or other sources. The output fromsignal processor71 is connected to controlcircuit72 and the output may represent at least one of disease state, magnitude of symptomatology, response to therapy, other parameter, and combination thereof.

Individual electrodes comprising intracranialstimulating electrode array37 and intracranialrecording electrode array38 may each be of the microelectrode type for single unit recordings, macroelectrode type for multiple unit recordings, other electrode type, or a combination thereof, without departing from the spirit of the present invention. In one preferred embodiment, intracranial stimulatingelectrode array37 consists of macroelectrodes. The macroelectrodes facilitate delivery of stimulation current at a lower charge density (coulombs per unit of electrode surface area) than microelectrodes of the same chemistry and surface treatment. The dimensions of intracranial stimulating electrodes1-4 are selected such that the current density, or electrical current divided by electrode surface area, is below the threshold of reversible charge injection for the given electrode material.

Standard single cell recording technique, using an electrode with an impedance of typically 1-2 Megohms, involves bandpass filtering with −6 decibel (dB) points at 300 and 10,000 Hertz. This filtering, or a modification thereof, may be accomplished byICRE filter65 andICSE filter64; alternatively, it may be performed inspike detector85 andspike detector89, respectively, or other portion of stimulating andrecording circuit26.

FIG. 5 is a block diagram of one embodiment of anEMG signal processor233 which is included in a preferred embodiment ofsignal processor71.EMG signal processor233 processes signals fromEMG electrode array50, performing functions including but not limited to full wave rectification, envelope determination, bandpass filtering, threshold discrimination, and others described in more detail below, to produce signals indicative of the overall magnitude of tremor as well as the frequency at which tremor episodes occur. As noted,EMG electrode array50 includes, but is not limited to, proximalEMG electrode array45, enclosure-mountedEMG electrode array46, and distalEMG electrode array47. EMG electrodes may be located in any implanted or external location without departing from the present invention. For example, electrodes may be located within or in proximity to the hand, forearm, arm foot, calf, leg, abdomen, torso, neck, head, haw, lip, eyelid, larynx, vocal cords, and tongue.

ConditionedEMG signal path78 is also connected to a well-knownfull wave rectifier123 now or later developed. Output from thefull wave rectifier123 is coupled to an input of anenvelope determiner124. Determination of the envelope of a modulated signal is well known to those skilled in the art of electronics; this may be readily implemented in analog or digital hardware or in software. Output ofenvelope determiner124 is connected to inputs offilters125,127,129,131 and133. In one embodiment, filters125,127,129,131,133 implement passbands of approximately 0.1-2 Hz, 2-3 Hz, 3-5 Hz, 7-8 Hz, and 8-13 Hz, respectively. Outputs offilters125,127,129,131 and133 are connected tothreshold discriminators126,128,130,132,134, respectively.

Threshold discriminators126,128,130,132, and134 generate outputs representing episodes of normal voluntary movement (Mv), low frequency intention tremor (Til) resting tremor (Tr), high frequency intention tremor (Tih), and physiologic tremor (Tp), respectively. These outputs are each connected to both ofintegrator135 andcounter136.Integrator135 generates outputs representative of the total activity of each of the above types of movement over at least one period of time. One such time period may be, for example, time since implantation, time since last visit to physician or health care provider, month internal, week interval, day interval, interval since last medication dose, interval since last change in stimulation parameters, weighted average of multiple time windows, and convolution of said activity with arbitrary time window function.

Counter136 generates outputs representative of the number of episodes of each of the above types of movement over at least one period of time. Such period of time may be, for example, time since implantation, time since last visit to physician or health care provider, month interval, week internal, day interval, interval since last medication dose, interval since last change in stimulation parameters, and weighted average of said number of episodes over multiple time windows. Outputs fromintegrator135 and counter136 are connect toEMG analyzer137.EMG analyzer137 performs a number of functions including, for example, calculation of proportions of tremor activity which are of the rest and the intention type, ratios of different types of tremor activity, the level of suppression of resting tremor activity with voluntary movement, assessment of temporal patterns of EMG activity. EMGdisease state estimator138 receives inputs fromEMG analyzer137 and generates output representative of disease state based upon said input. In one preferred embodiment, two disease states are calculated, including a signal representative of the overall magnitude of tremor activity and a signal representative of the frequency of occurrence of tremor events. It should be understood that all signals paths may transmit one or more signals without departing from the present invention.

EMG signals may be sensed from any individual or group of muscles and processed in a manner including but not limited to the determination of severity and frequency of occurrence of various tremor types. Normal or physiologic tremor includes movement in the 8-13 Hz range and may be used as a normalization for the other types of sensed tremor. The predominant pathological form of tremor exhibited in Parkinson's disease patients is the classical “resting” tremor which includes movements in the 3≧5 Hz range which are present at rest and suppressed in the presence of voluntary movement. In the present invention, quantification of this tremor type serves as a heavily weighted sensory input in the assessment of disease state and response to therapy. Parkinson's disease patients may also exhibit intention tremor, of which there are two types. The first type of intention tremor is referred to as “low frequency intention tremor” (Til in the present invention) and consists of movements in the 2-3 Hz range. A second type of intention tremor is referred to as “high frequency intention tremor” Tih in the present invention and consists of irregular movements in the 7-8 Hz range which persist throughout voluntary movement. Other types of tremor having associated movement in other ranges may be sensed and represented by the EMG signals.

EMG signals from at least one of orbicularis oculi (effecting eye closure), levator palpebrae (effecting eye opening), and other muscles contributing to eyelid movement, may be sensed and processed to determine frequency of eye blinking. Patients with Parkinson's disease exhibit a reduction in eye blinking frequency from the normal of 20 per minute to 5 to 10 per minute, and this parameter is sensed as a measure of disease severity and response to treatment. Additionally, said EMG signals may be sensed and processed for detection and quantification of blepharoclonus, or rhythmic fluttering of the eyelids, and used as a measure of disease state and response to therapy. EMG signals, including baseline levels thereof, may be used to quantify rigidity and hypertonus as measures of disease state and response to therapy. Discharge patterns of individual motor units, including but not limited to synchronization of multiple units and distribution of intervals preceding and following discharge, may be used as measures of disease state and response to therapy.

FIG. 6 is a block diagram of one embodiment of an EEGsignal processor module234 which is included in embodiments ofsignal processor71. The EEGsignal processor module234 processes signals fromEEG electrode array51. ConditionedEEG signal path79 connects to an input ofartifact rejecter139 which rejects signals with amplitudes above a threshold. In one embodiment, this threshold is 0.1 mV. An output fromartifact rejecter139 connects to an input of each of supplementary motorarea signal extractor140 andfilters143,146,149,152,219.Filters143,146,149,152, and219 are preferably of the bandpass type with passbands of 13-30 Hz, 8-13 Hz, 4-7 Hz, 0.1-4 Hz, and 0.1-0.3 Hz, respectively. Each filter output is connected to an input of an associatedfull wave rectifier141,144,147,150,153,220. Eachfull wave rectifier141,144,147,150,153,220 is connected to an input of an associatedenvelope determiner142,145,148,151,154, and221, respectively. The envelope determiners generate a signal representative of the envelope of the input signal, typically performed by lowpass filtering with a time constant of 5 seconds. Finally, outputs ofenvelope determiners142,145,148,151,154, and221 are connected to EEGdisease state estimator155.

Signal SMA generated by supplementary motorarea signal extractor140 represents activity in the supplementary motor area ipsilateral to the intracranial stimulating electrode array (ISEA)37. Supplementary motorarea signal extractor140 amplifies signals which are unique to elements of theEEG electrode array51 which overlie the supplementary motor area. The supplementary motor area receives neural signals via neural projections from the basal ganglia and exhibits decreased activity in patients with Parkinson disease. The SMA is essential for sequential movements, which are often impaired in Parkinson's disease patients. The SMA signal provides a quantitative measure of disease state and response to therapy. The SMA signal is extracted from the anterior EEG leads, predominantly from those in the vicinity of the frontal cortex, and provides a quantitative measure of disease state and response to therapy. Signals beta, alpha, theta, and delta consist of 13-30 Hz, 8-13 Hz, 4-7 Hz, and 0.1-4 Hz activity, respective

Signal “resp” consists of 0.1-0.3 Hz activity and reflects respiration. Parkinson's disease patients exhibit irregular respiratory patterns characterized by pauses and by abnormally deep breathing while at rest and preceding speech. Assessment of respiratory irregularity as well as other parameters derived from such resp signal serve as quantitative measures of disease state and response to therapy.

Anterior EEG electrodes are also used to sense EMG signals, and the EMG signals are processed to determine activity of muscles including but not limited to those related to eye blinking activity. Processing of the EMG signals is included in the FIG. 6 circuit block diagram which contains the EEG signal processing component ofsignal processor71. However, the processing could be incorporated into EMG signal processing component ofsignal processor71 without departing from scope of the present invention. ConditionedEEG signal path79 is additionally connected to input offull wave rectifier222, the output of which is connected to the input of anenvelope determiner223.Envelope determiner223 includes an output connected to input offilter224.Filter224 is preferably of the bandpass type with a passband range of 0.1 to 20 Hz.Filter224 has an output connected to input ofthreshold discriminator225, the output of which is connected to EEGdisease state estimator155.

Preferably, EMG signals arising from activity of at least one of orbicularis oculi (effecting eye closure), levator palpebrae (effecting eye opening), and other muscles the activity of which is associated with eyelid movement are sensed by anterior EEG electrodes. These EMG signals are processed to determine eye blink events, and the rates and regularity of eye blinking activity are calculated. Frequency and irregularity of eyeblinking as well as blepharoclonus, or rhythmic fluttering of the eyelids, are quantified as measures of disease state and response to therapy.

FIG. 7 is a block diagram of one embodiment of allaccelerometer signal processor235 which is incorporated into certain embodiments ofsignal processor71. Theaccelerometer signal processor235 processes signals fromaccelerometer array52. Conditionedaccelerometer signal path80 is connected to an input of each of a plurality offilters156,160,164,168,172. The filters are preferably of the bandpass type with passbands of 0.1-2 Hz, 2-3 Hz, 3-5 Hz, 7-8 Hz, and 8-13 Hz, respectively. Other passband frequency ranges may also be used. The output of eachfilter156,160,164,168,172 is connected to an associatedfull wave rectifiers157,161,165,169, and173, respectively. The output of eachrectifier157,161,165,169, and173 is connected to an associatedenvelope determiners158,162,166,170, and174, respectively. Outputs ofenvelope determiners158,162,166,170, and174 are connected to inputs of an associatedthreshold discriminators159,163,167,171, and175, respectively.

Outputs ofthreshold discriminators159,163,167,171,175 represent episodes of normal voluntary movement (Mv), low frequency intention tremor (Til), resting tremor (Tr), high frequency intention tremor (Tih), and physiologic tremor (Tp), respectively. These outputs are each connected to anintegrator176 and acounter177.Integrator176 generates outputs representative of the total activity of each of the above types of movement over at least one period of time. As noted, such a time period may be, for example, time since implementation, time since last visit to physician or health care provider, or some other time interval, weighted average of multiple time windows, or convolution of selected activities with an arbitrary time window function.

Counter177 generates outputs representative of the number of episodes of each of the above types of movements over at least one such period of time. Outputs fromintegrator176 and counter177 are connect to anacceleration analyzer178.Acceleration analyzer178 calculates proportions of tremor types, such as the rest and intention types, ratios of different types of tremor activity, the level of suppression of resting tremor activity with voluntary movement, and assessment of temporal patterns of movement and acceleration.Acceleration analyzer178 may perform some or all of these calculations, as well as other calculations, on alternative embodiments of the present invention. Acceleration-baseddisease state estimator179 receives input fromacceleration analyzer178 and generates output representative of disease state based upon such input.

It should be understood that accelerometer signals may be sensed from any individual or group of body components. For example, such signals may be sensed from joints, bones, and muscles. Furthermore, such signals may be processed in any well known manner, including the determination of severity and frequency of occurrence of various tremor types. The types of tremor have been described above with respect to FIG.5.

FIG. 8 is a block diagram of one embodiment of anacoustic signal processor236 which is included in certain embodiments ofsignal processor71.Acoustic signal processor236 processes signals fromacoustic transducer array53. Conditionedacoustic signal path81 is connected to afull wave rectifier180 and aspectral analyzer185. The output offull wave rectifier180 is connected to an input of anenvelope determiner181, an output of which is connected to an input of alow threshold discriminator182 and ahigh threshold discriminator183.Low threshold discriminator182 andhigh threshold discriminator183 each have an output connected to an input oftimer184.Timer184 generates an output signal representing latency (Lat) and is connected toacoustic analyzer186. An output ofacoustic analyzer186 is connected to an input of acoustic-baseddisease state estimator187. Latency (Lat) represents the latency between initiation of vocal utterance and the subsequent achievement of a threshold level of vocal amplitude. Such a vocal amplitude level is set byhigh threshold discriminator183 and may represent steady state vocal amplitude or a preset or dynamically varying threshold. Latency from voice onset to achievement of steady state volume may be delayed in patients with Parkinson's disease and is calculated as a measure of disease state and response to therapy.

Acoustic analyzer186 receives input fromspectral analyzer185. The respiratory pattern is determined from rhythmic modulation of voice and breathing sounds, sensed by elements of theacoustic transducer array53. Irregularity and pauses in respiration as well as abnormally deep breathing patterns at rest and preceding speech are exhibited in Parkinson's disease patients. Such parameters are quantified and used as estimates of disease state and response to therapy. Respiration durations are quantified; abnormally deep respiration both during rest and preceding speech are identified and used as indicators of disease state and response to therapy. Pauses in speech and decline in speech amplitude, or fading, are additionally monitored as indicators of disease state and response to therapy. Spectral composition of speech is monitored and the change in spectral composition, reflective of changes of pharyngeal and laryngeal geometry, are quantified. Additionally, the fundamental vocal frequency; that is, the frequency at which the epiglottis vibrates, is extracted an that standard deviation of the fundamental vocal frequency is calculated over various time intervals as a quantified measure of the monotonic quality of speech characteristic of Parkinson's disease. This serves as yet another indicator of disease state and response to therapy.

FIG. 9 is block diagram of one embodiment of a peripheral nerve electrode (PNE)signal processor237 which is implemented in certain embodiments ofsignal processor71.PNE signal processor237 processes signals from peripheralnerve electrode array54. These signals provided by peripheralnerve electrode array54 are provided toPNE signal processor237 via conditionedPNE signal path82. ConditionedPNE signal path82 is connected to an input of aspike detector188 and afilter191.

Spike detector188 identifies action potentials. As noted, spike detection techniques are well known to those skilled in the art, and generally employ low and high amplitude thresholds. Waveforms with amplitudes greater than the low threshold and lower than the high threshold are determined to be action potentials. These thresholds may be adjusted in real-time, and the low amplitude threshold is set above the amplitude of background noise and that of nearby cells not of interest, and the high amplitude threshold is set above the amplitude of the desired action potentials to allow their passage while eliminating higher amplitude noise spikes, such as artifacts arising from electrical stimulation currents. It should be understood that bandpass, notch, and other filtering techniques may also used to improve signal to noise ratio and the sensitivity and specific of spike detectors. Individual neuron action potentials are usually recorded using fine point high-impedance electrodes, with impedances typically ranging from 1 to 5 megohms. Alternatively, larger lower-impedance electrodes may be used for recording, in which case the signals obtained typically represent aggregate activity of populations of neurons rather than action potentials from individual neurons. As noted above, peripheralnerve electrode array54 may include such electrodes as single unit recording microelectrodes, multiple unit recording microelectrodes, intrafascicular electrodes, other intraneural electrodes, epineural electrodes, and any combination thereof.

Aspike characterizer189 determines firing patterns of individual neurons, including, for example, tonic activity, episodic activity and burst firing.Spike characterizer189 receives the signals passed byspike detector188 and calculates parameters that characterize the behavior of the individual and groups of neurons, the activity of which is sensed by peripheralnerve electrode array54. Such characterization includes but is not limited to parameterization of spikes, bursts of spikes, and overall neural activity patterns. Parameterization includes but is not limited to calculation of frequencies of spikes, frequencies of bursts of spikes, inter-spike intervals, spike amplitudes, peak-to-valley times, valley-to-peak times, spectral composition, positive phase amplitudes, negative phase amplitudes, and positive-negative phase differential amplitudes. These parameters are described in further detail below with reference to FIG.14. Based on this parameterization, spikecharacterizer189 discriminates individual spikes and bursts originating from different neurons. The discrimination facilitates aerial monitoring of activity of individual and groups of neurons and the assessment and quantification of activity change, reflective of change in disease state and of response to therapy.

Aspike analyzer190 receives as input the parameters fromspike characterizer189, and extracts higher level information, including but not limited to average spike frequencies, average frequencies o bursts of spikes, average interspike intervals, average spike amplitudes, standard deviations thereof, trends, and temporal patterning.

Preferably,spike analyzer190 additionally calculates the rates of change of spike parameters. From prior and current rates of change, future behaviors may be predicted. Rates of change of the parameters include but are not limited to first, second, and third time derivatives. In alternative embodiments,spike analyzer190 additionally calculates weighted combinations of spike characteristics and performs convolutions of spike waveforms with other spike waveforms, and other preset and varying waveforms. Such operations may be performed, for example, for purposes including but not limited to autocorrelation and digital filtering.

Spike analyzer190 may receive additional input from accelerometers, such as those described above, including head mountedaccelerometer12,proximal accelerometer28, enclosure mountedaccelerometer36, anddistal accelerometer33.Spike analyzer190 may receive indirect input from these or other accelerometers, as well as from conditioned or processed signals arising therefrom. Such conditioned or processed signals include, for example, the signal transmitted by conditioned accelerometer signal path80 (FIG.7).

Spike analyzer190 may receive additional input from EMG arrays. As noted, such EMG arrays may include, for example, proximalEMG electrode array45, enclosure-mountedEMG electrode array46, and distalEMG electrode array47.Spike analyzer190 may also receive indirect input from these or other EMG electrode arrays, as well as from conditioned or processed signals arising therefrom. Such conditioned or processed signals include but are not limited to the signal transmitted by conditioned EMG signal path78 (FIG.5). These additional inputs from accelerometers and EMG arrays facilitates the characterization of neuronal firing patterns relative to activity of muscle groups and movement of joints. Such characterization may include, for example, characterization of neuronal spike amplitudes and tuning of neuronal spike frequencies to movement, including but not limited to the signal transmitted by conditionedEMG signal path78.

The additional input from accelerometers and EMG arrays also facilitates the characterization of neuronal firing patterns relative to activity of muscle groups and movement of joints, including but not limited to characterization of neuronal spike amplitudes and tuning of neuronal spike frequencies to movement, including but not limited to movement velocity and direction. These characterizations may be used to assess functioning of the sensorimotor system, including but not limited to motor response time, and to measure the disease state and response to therapy.

Peripheral nerve electrode (PNE)-based single unit (SU)disease state estimator194 receives an input representative of the current neuronal activity fromspike characterizer189. PNE-based single unitdisease state estimator194 may receive input representative of at least one of several signals, including desired neuronal activity, actual neuronal activity, and the difference between these quantities. The output fromestimator194 may carry a single or a plurality of signals, consistent with a representation of the disease state by a single or a multitude of state variables, respectively.

Filter191 has an output connected to an input ofspectral energy characterizer192.Spectral energy characterizer192 calculates the spectral composition of the signals sensed by the peripheralnerve electrode array54.Spectral energy characterizer192 provides outputs to each ofspectral energy analyzer193 and peripheral nerve electrode (PNE)-based multiple unitdisease state estimator232. Output ofspectral energy analyzer193 is connected to an input of PNE-based multiple unit (MU)disease state estimator232. PNE SUdisease state estimator194 both receives input from and provides output to PNE MUdisease state estimator232.

PNE MUdisease state estimator232 receives as an input signals representative of the current neuronal activity fromspectral energy characterizer192. PNE MUdisease state estimator232 may receive input representative of at least one of several signals, including desired neuronal activity, actual neuronal activity, and the difference between these quantities. The output from PNE MUdisease state estimator232 may carry a single or a plurality of signals, consistent with a representation of the disease state by a single or a multitude of state variables, respectively.

It should be understood that inputs and outputs from eachspike detector188, spikecharacterizer189,spike analyzer190,filter191,spectral energy characterizer192,spectral energy analyzer193, and PNE-based single unitdisease state estimator194, and PNE-based multiple unitdisease state estimator232 may each be comprised of individual signals or a plurality of signals. It should also be understood that each of these the units,spike detector188, spikecharacterizer189,spike analyzer190,filter191,spectral energy characterizer192,spectral energy analyzer193, and PNE-based single unitdisease state estimator194, and PNE MUdisease state estimator232 may each have different parameters and signal processing characteristics for each of the multiple signals processed. Modifications of this processing circuitry may be made to accommodate various combinations of intraneural electrodes, used for single and multiple unit recordings, and epineural electrodes, used for compound action potential recordings, without departing from the present invention.

FIG. 11 is a schematic diagram of one embodiment of a patient-neural modulator system999 illustrated in FIG. 2 with feedback control. Patient-neural modulator system999 primarily includes anobserver228 and acontroller229. An observer is a component of a control system that is known to those or ordinary skill in the art of control systems. An observer is a functional block in which variables, typically represented in software as parameter values or in hardware as electrical signal amplitudes, represent states of the controlled system. Such a component is used in controlling systems in which one or more of the state variables are not directly observable from the sensed signals. An observer essentially includes a simulated version of the controlled system. Its input are the same control law output signals delivered to the controlled system, and its outputs are desired to match those sensed outputs of the controlled system. The difference between the outputs of the observer and the measured outputs of the controlled system, that is, the outputs of a motor control portion of the patient's nervous system in this case, ale used to calculate an observer error signal which may then be used to correct the observer error. Since the observer is implemented in software or hardware, all of its signals, including all state variables, are accessible. In a system such as the complex neural circuitry of the patient, one or more of the state variables may not be “observable”, that is directly measurable or calculatable based on measured values. In such a case, the state variables present in the observer may be used as “estimates” of the actual state variables and included in the control law. The general use of “observers” for estimation of “unobservable” state variables is known to those skilled in the art of control theory. The use of observers for the estimation of neural state variables, disease states, and responses to therapy is one of the teachings of the present invention.

Observer228 includes signal conditioning circuit76 (FIG. 2) and signal processor71 (FIGS. 2,10).Signal processor71, as noted, includes disease state estimator module array (DSEMA)229 and aggregatedisease state estimator195.Observer228 receives patient output “y” frompatient227. Patient output “y” is comprised of one or more signals arising frompatient227. In one preferred embodiment patient output “y” includes one or more signals fromEMG electrode array50,EEG electrode array51,accelerometer array52,acoustic transducer array53, peripheralnerve electrode array54, intracranialrecording electrode array38, and intracranialstimulating electrode array37. It should be understood that additional signals f the same or different type may also be included.

Control circuit72 (FIG. 2) includessummator226 which receives an input fromreference module116, and a controllaw circuit block231.Controller229 includes the controllaw circuit lock231 andoutput stage circuit77.Controller229 generates a neural modulation waveforms “u”, described in detail below with reference to FIG.13. The function and operation of each of these modules is described in detail below.

Reference disease state “r”, generated byreference module116, is a non-inverting input tosummator226, providing disease state and target reference values for the single or plurality of control laws implemented in controllaw circuit block231 introduced above with reference to FIG.2.Reference module116 may also receive input fromcontrol circuit72, facilitating the dynamic adjustment of reference values. Reference disease state “r” may comprise a single or plurality of signals, each of which may be zero, constant, or time-varying independent of the other. Disease state error “e” is output fromsummator226 and input tocontroller229. Disease state error “e”, which may comprise a single or plurality of signals, represents a difference between a desired disease state (represented by reference disease state “r”) and an actual disease state (represented by disease state estimate “x”). Other methods of calculating disease state estimate “x”, including but not limited to linear or nonlinear combinations of reference disease state “r” and disease state estimate “x”, may be employed without departing from the present invention.Controller229 is comprised of controllaw circuit block231 andoutput stage circuit77.

Disease state error “e” is input to controllaw circuit block231 which generates a control circuit output “uc.” Controllaw circuit block231 is connected to an input ofoutput stage circuit77. The output of thecontroller229, which is generated by theoutput stage circuit77, “u”, is delivered topatient227 in the form of neural modulation waveforms, described in detail below with reference to FIG.13.

Patient output “y” is input to signalconditioning circuit76, the output of which is connected to the input ofDSEMA229. The output ofDSEMA229 is provided to an aggregatedisease state estimator195, the output of which is the disease state estimate x. Disease state estimate x, which may be comprised of a single or plurality of signals, is an inverting input tosummator226.

Controllaw circuit block231 receives disease state estimate x as an additional input, for use in nonlinear, adaptive and other control laws.Reference module116 receives input fromDSEMA229 and aggregatedisease state estimator195 for use in dynamically determining reference disease state r. Other modifications, including substitutions, additions, and deletions, may be made to the control loop without departing from the present invention.

Controllaw circuit block231 has an autocalibration mode in which multivariable sweeps through stimulation parameters and stimulating electrode configurations are performed to automate and expedite parameter and configuration optimization. This autocalibration feature enables rapid optimization of treatment, eliminating months of iterations of trial and error in optimizing stimulation parameters and electrode configuration necessitated by the prior technique of constant parameter stimulation. Additionally, this autocalibration feature permits real-time adjustment and optimization of stimulation parameters and electrode configuration. This is particularly useful to overcome increases in electrode impedance which result from the body's normal response to implanted foreign bodies in which a fibrotic capsule is commonly formed around the electrodes. Effects of shifts in electrode position relative to a target structures may be minimized by said autocalibration feature. Detection of changes in electrode impedance and position are facilitated by autocalibration feature. The autocalibration feature facilities detection of changes in electrode impedance and position. Notification of patient and health care provider allows proactive action, including automated or manual adjustment of treatment parameters and advance knowledge of impending electrode replacement needs.

FIG. 12 is a schematic diagram ofcontrol circuit72. As noted,control circuit72 comprises controllaws circuit block231 andsummator226. Disease state error “e” is input to gain stages of control laws, including but not limited to at least one ofproportional gain197,differential gain198,integral gain199,nonlinear gain200,adaptive gain201, slidinggain202, andmodel reference gain203.

An output of each of these gain stages is connected to what is referred to herein as control law stages. In the illustrative embodiment, control law stages includesproportional controller230,differential controller204,integral controller205,nonlinear controller206,adaptive controller207, slidingcontroller208, andmodel reference controller209, respectively.

Outputs of these control law stages are connected to weight stages, includingproportional controller weight210,differential controller weight211,integral controller weight212,nonlinear controller weight213,adaptive controller weight214, slidingcontroller weight215, and modelreference controller weight216. Outputs of the weight stages are noninverting inputs tosummator217, the output of which is control circuit output “uc”. The weight stages may be any combination of at least one of constant, time varying, and nonlinear without departing from the present invention.

Disease state estimate x is input tononlinear controller206,adaptive controller207, slidingcontroller208, andmodel reference controller209. The control laws depicted are representative of one possible implementation; numerous variations, including substitutions, additions, and deletions, may be made without departing from the present invention.

The present invention optimizes the efficiency of energy used in the treatment given to the patient by minimizing to a satisfactory level the stimulation intensity to provide the level of treatment magnitude necessary to control disease symptoms without extending additional energy delivering unnecessary overtreatment. In the definition of the control law, a command input or reference input (denoted as r in FIGS. 11 and 12) specifies the target disease state. In the preferred embodiment, r specifies the target amplitude of tremor. The control law generates an electrical stimulation magnitude just sufficient to reduce the patient's tremor to the target value. With this apparatus and method, the precise amount of electrical energy required is delivered, and overstimulation is avoided. In present stimulation systems, a constant level of stimulation is delivered, resulting in either of two undesirable scenarios when disease state and symptoms fluctuate: (1) undertreatment, i.e. tremor amplitude exceeds desirable level or (2) overtreatment or excess stimulation, in which more electrical energy is delivered than is actually needed. In the overtreatment case, battery life is unnecessarily reduced. The energy delivered to the tissue in the form of a stimulation signal represents a substantial portion of the energy consumed by the implanted device; minimization of this energy substantially extends battery life, with a consequent extension of time in between reoperations to replace expended batteries.

FIG. 13 is a schematic diagram of electrical stimulation waveforms for neural modulation. The illustrated ideal stimulus waveform is a charge balanced biphasic current controlled electrical pulse train. Two cycles of this waveform are depicted, each of which is made of a smaller cathodic phase followed, after a short delay, by a larger anodic phase. In one preferred embodiment, a current controlled stimulus is delivered; and the “Stimulus Amplitude” represents stimulation current. A voltage controlled or other stimulus may be used without departing from the present invention. Similarly, other waveforms, including an anodic phase preceding a cathodic phase, a monophasic pulse, a triphasic pulse, or the waveform may be used without departing from the present invention.

The amplitude of the first phase, depicted here as cathodic, is given bypulse amplitude1 PA1; the amplitude of the second phase, depicted here as anodic, is given bypulse amplitude2 PA2. The durations of the first and second phases arepulse width1 PW1 andpulse width1 PW2, respectively.Phase1 andphase2 are separated by a brief delay d. Waveforms repeat with a stimulation period T, defining the stimulation frequency as f=1/T.

The area under the curve for each phase represents the charge Q transferred, and in the preferred embodiment, these quantities are equal and opposite for the cathodic (Q1) and anodic (Q2) pulses, i.e. Q=Q1=Q2. For rectangular pulses, the charge transferred per pulse is given by Q1=PA1*PW1 and Q2=PA2*PW2. The charge balancing constraint given by −Q1=Q2 imposes the relation PA1*PW1=−PA2*PW2. Departure from the charge balancing constraint, as is desired for optimal function of certain electrode materials, in included in the present invention.

The stimulus amplitudes PA1 and PA2, durations PW1 and PW2, frequency f, or a combination thereof may be varied to modulate the intensity of the said stimulus. A series of stimulus waveforms may be delivered as a burst, in which case the number of stimuli per burst, the frequency of waveforms within the said burst, the frequency at which the bursts are repeated, or a combination thereof may additionally be varied to modulate the stimulus intensity.

Typical values for stimulation parameters include f=100-300 Hz, PA1 and PA2 range from 10 microamps to 10 milliamps, PW1 and PW2 range from 50 microseconds to 100 milliseconds. These values are representative, and departure from these ranges is included in the apparatus and method of the present invention.

FIG. 14 is a schematic diagram of one example of the recorded waveforms. This represents an individual action potential from a single cell recording, typically recorded from intracranial microelectrodes. Aggregates of multiple such waveforms are recorded from larger intracranial electrodes. The action potentials may be characterized according to a set of parameters including but not limited to time tovalley1 TV1, time to peak1 TP1, time tovalley2 TV2, amplitude ofvalley1 AV1, amplitude ofpeak1 AP1, amplitude ofvalley2 AV2, and algebraic combinations and polarity reversals thereof.

When recording activity from more than one cell, said characterization facilitates discrimination of waveforms by individual recorded cell. The discrimination allows activity of a plurality of cells to be individually followed over time. The parameterization may be performed separately on signals recorded from different electrodes. Alternatively, said parameterization may be performed on signals pooled from multiple electrodes.

Following is a description of a general form for representing disease state.

Disease State DS is a vector of individual disease states, including intrinsic disease states DS1 and extrinsic disease states DSE:

DS=[DS₁DS_E]

Intrinsic disease states and extrinsic disease states are, themselves vectors of individual disease states:

DS₁=[DS₁₁DS₁₂DS₁₃. . . DS_IN]

DS_E=[DS_E1DS_E2DS_E3. . . DS_EM]

Intrinsic Disease States include those disease states which characterize the state of disease at a given point in time. Extrinsic Disease States include variations of intrinsic disease states, including but not limited to cyclical variations in Intrinsic Disease States, variations in Intrinsic Disease States which occur in response to external events, and variations in Intrinsic Disease States which occur in response to levels of and changes in levels of electrical stimulation. Said external events include but are not limited to pharmacologic dosing, consumption of meals, awakening, falling asleep, transitioning from Parkinsonian “on” state to Parkinsonian “off” state, transitioning from Parkinsonian “off” state to Parkinsonian “on” state.

Each of Intrinsic Disease States and Extrinsic Disease States include but are not limited to those defined herein; additional disease states and definitions thereof may be added without departing from the present invention.

The first intrinsic disease state DS₁₁represents the level of resting tremor

DS₁₁—RT_N

Where Normalized Resting Tremor Magnitude RT_Nis given by:

RT_N=T_A,3-5*W_TA,3-5+T_E,3-5*W_TE,3-5+T_P,3-5*W_PE,3-5+T_C,3-5+W_IC,3-5+T_N,3-5*W_TN,3-5+T_S,3-5*W_F,3-5*W_TE,3-5

Where the factors from which the Resting Tremor Magnitude RT_Nis determined, representing estimates of the magnitude of 3-5 Hertz movement of selected body segments, including but not limited to limbs, torso, and head are:

T_A,3-5=Tremor level determined by acceleration monitoring

W_TA,3-5=Weighting factor for tremor T_A,3-5

T_E,3-5=Tremor level determined by electromyographic (EMG) monitoring

W_TE,3-5=Weighting factor for tremor T_E,3-5

T_P,3-5=Tremor level determined by peripheral nerve electrode monitoring

W_TP,3-5=Weighting factor for tremor T_P,3-5

T_C,3-5=Tremor level determined by cortical electrode monitoring

W_TC,3-5=Weighting factor for tremor T_C,3-5

T_N,3-5=Tremor level determined by neural monitoring, including subcortical nuclei, white matter tracts, and spinal cord neurons

W_TN,3-5=Weighting factor for tremor T_N,3-5

T_S,3-5=Tremor level determined by acoustic sensor monitoring

W_TS,3-5=Weighting factor for tremor T_S,3-5

Weighting factors are adjusted after implantation to achieve normalization of RT_Nand to allow for selective weighting of tremor levels as determined from signals arising from various sensors, including but not limited to those listed.

These calculations may be implemented in analog hardware, digital hardware, software, or other form. In the preferred embodiment, values are implemented as 16-bit variables; ranges for said weighting factors and tremor levels are 0 to 65535. These ranges may be changed or implemented in analog form without departing from the present invention.

The second intrinsic disease state DS₁₂represents the level of dyskinesia:

DS₁₂=D_N

Where Normalized Dyskinesia Magnitude D_Nis given by:

D_N=D_A*W_DA+T_E*W_TE+T_P*W_PE+T_C+W_TC+T_N*W_TN+_TS+T_E*W_TE

Where

D_A,3-5=Dyskinesia level determined by acceleration monitoring

W_DA,3-5=Weighting factor for Dyskinesia D_A,3-5

D_E,3-5=Dyskinesia level determined by electromyographic (EMG) monitoring

W_DE,3-5=Weighting factor for Dyskinesia D_E,3-5

D_P,3-5=Dyskinesia level determined by peripheral nerve electrode monitoring

W_DP,3-5=Weighting factor for Dyskinesia D_P,3-5

D_C,3-5=Dyskinesia level determined by cortical electrode monitoring

W_DC,3-5=Weighting factor for Dyskinesia D_C,3-5

D_N,3-5=Dyskinesia level determined by neural monitoring, including subcortical nuclei, white matter tracts, and spinal cord neurons

W_DN,3-5=Weighting factor for Dyskinesia D_N,3-5

D_S,3-5=Dyskinesia level determined by acoustic sensor monitoring

W_DS,3-5=Weighting factor for Dyskinesia D_S,3-5

The third intrinsic disease state DS₁₃represents the level of rigidity.

DS₁₃=R_N

Where Normalized Rigidity Magnitude R_Nis given by:

R_N=R_A*W_RA+R_E*W_RE+R_P*W_RE+R_C+W_RC+R_N*W_RN+R_S*W_RS*W_RE

Where

R_A,3-5=Rigidity level determined by acceleration monitoring

W_RA,3-5=Weighting factor for Rigidity R_A,3-5

R_E,3-5=Rigidity level determined by electromyographic (EMG) monitoring

W_RE,3-5=Weighting factor for Rigidity R_E,3-5

R_P,3-5=Rigidity level determined by peripheral nerve electrode monitoring

W_RP,3-5=Weighting factor for Rigidity R_P,3-5

R_C,3-5=Rigidity level determined by cortical electrode monitoring

W_RC,3-5=Weighting factor for Rigidity R_C,3-5

R_N,3-5=Rigidity level determined by neural monitoring, including subcortical nuclei, white matter tracts, and spinal cord neurons

W_RN,3-5=Weighting factor for Rigidity R_N,3-5

R_S,3-5=Rigidity level determined by acoustic sensor monitoring

W_RS,3-5=Weighting factor for Rigidity R_S,3-5

The fourth intrinsic disease state DS₁₄represents the level of bradykinesia.

DS₁₄=B_N

Where Normalized Bradykinesia Magnitude B_Nis given by:

B_N=B_A*W_BA+B_E*W_BE+B_P*W_PE+B_C+W_BC+B_N*W_BN+B_S*W_BS+B_E*W_BE

Where

R_A=Bradykinesia level determined by acceleration monitoring

W_RA=Weighting factor for Bradykinesia R_A

R_E=Bradykinesia level determined by electromyographic (EMG) monitoring

W_RE=Weighting factor for Bradykinesia R_E

R_P=Bradykinesia level determined by peripheral nerve electrode monitoring

W_RP=Weighting factor for Bradykinesia R_P

R_C=Bradykinesia level determined by cortical electrode monitoring

W_RC=Weighting factor for Bradykinesia R_C

R_N=Bradykinesia level determined by neural monitoring, including subcortical nuclei, white matter tracts, and spinal cord neurons

W_RN=Weighting factor for Bradykinesia R_N

R_S=Bradykinesia level determined by acoustic sensor monitoring

W_RS=Weighting factor for Bradykinesia R_S

The control law drives these disease states toward their reference values, nominally 0, according to a vector of weights, establishing a prioritization

Side Effects:

Side effects and other parameters, such as power consumption and current magnitude, are also quantified and minimized according to a cost function.

One advantage of the present invention is that it provides prediction of future symptomatology, cognitive and neuromotor functionality, and treatment magnitude requirements. Such predictions may be based on preset, learned and real-time sensed parameters as well as input from the patient, physician or other person or system. The prediction of future symptomatology is based upon any of several weighted combination of parameters. Based upon prior characterization of the circadian fluctuation in symptomatology (that is, tremor magnitude for deep brain stimulation or level of depression for stimulation of other sites including locus cerulius), future fluctuations may be predicted. An estimate, or model, of fluctuation may be based upon a combination of preset, learned, and real-time sensed parameters. Preset parameters are derived from clinical studies designed specifically for the purpose of gathering such data, or from estimates extracted from data gleaned from published literature. Real-time sensed parameters are derived from the current states (and changes, i.e. derivatives and other processed signals, thereof) of sensed and processed signals. Learned parameters are based upon the time histories of previously sensed signals. For example, the circadian fluctuation in tremor amplitude may be sensed; a weighted average of this data collected over numerous prior days provides as estimate of the expected tremor amplitude as well as a standard deviation and other statistical parameters to characterize the anticipated tremor amplitude. Similarly, in the presence of closed-loop feedback, the level of stimulation required to reduce or eliminate tremor may be used as an estimate of the “amplitude” or state of the underlying disease.

Another advantage of the present invention is that it performs automated determination of the optimum magnitude of treatment—by sensing and quantifying the magnitude and frequency of tremor activity in the patient, a quantitative representation of the level or “state” of the disease is determined. The disease state is monitored as treatment parameters are automatically varied, and the local or absolute minimum in disease state is achieved as the optimal set of stimulation parameters is converged upon. The disease state may be represented as a single value or a vector or matrix of values; in the latter two cases, a multivariable optimization algorithm is employed with appropriate weighting factors.

Having now described several embodiments of the invention, it should be apparent to those skilled in the art that the foregoing is merely illustrative and not limiting, having been presented by way of example only. For example, all signal paths may transmit a single or plurality of signals without departing from the present invention. Numerous modifications and other embodiments are within the scope of one of ordinary skill in the art and are contemplated as falling within the scope of the invention as defined by the appended claims.

Claims (45)

What is claimed is:

1. A neural modulation system for use in treating disease which provides stimulus intensity which may be varied, comprising a stimulating and recording unit, said stimulating and recording unit further comprising a reference module in communication with a patient interface module and a supervisory module, said reference module further comprising a memory register for the storage of control law reference values, said patient interface module facilitating monitoring and adjustment of said reference values by a patient and said supervisory module facilitating monitoring and adjustment of reference values by a health care provider.

2. The system ofclaim 1, wherein said stimulation is at least one of activating, inhibitory, and a combination of activating and inhibitory.

3. The system ofclaim 1, wherein said disease is at least one of neurologic and psychiatric.

4. The system ofclaim 3, wherein said neurologic disease includes at least one of Parkinson's disease, Huntington's disease, Parkinsonism, rigidity, hemiballism, choreoathetosis, dystonia, akinesia, bradykinesia, hyperkinesia, other movement disorder, epilepsy, or the seizure disorder.

5. The system ofclaim 4, wherein said psychiatric disease includes at least one of depression, bipolar disorder, other affective disorder, anxiety, phobia, schizophrenia, multiple personality disorder.

6. The system ofclaim 3, wherein said psychiatric disorder includes substance abuse, attention deficit hyperactivity disorder, impaired control of aggression, or impaired control of sexual behavior.

7. A system as set forth inclaim 4, wherein a control law is used in the determination of the stimulus intensity as a function of input which is a combination of at least one of sensory feedback signals, preprogrammed parameters, time of day, recumbency, level of activity, adaptive parameters, estimates of system performance, and user determined input.

8. The system as ofclaim 7, wherein said user determined input includes at least one of magnet movement over implanted sensor, muscle contraction, joint movement, audible input, switch activation, head position, head movement, shoulder position, and shoulder movement.

9. The system as ofclaim 7, wherein said control law is a combination of at least one of proportional function, derivative function, integral function, nonlinear function, multivariable function, sliding function, model reference function, adaptive function, filter function, and time-varying function of said input.

10. The system ofclaim 7, wherein said control law is proportional.

11. The system ofclaim 7, wherein said control law is of the proportional-derivative type.

12. The system ofclaim 7, wherein said control law is nonlinear.

13. The system ofclaim 7, wherein said control law is multivariable.

14. The system ofclaim 7, wherein said control law is sliding.

15. The system ofclaim 7, wherein said control law is adaptive.

16. The system ofclaim 7, wherein said control law is model reference.

17. The system ofclaim 1, wherein said stimulus intensity is time-varying.

18. The system ofclaim 17, wherein said time-varying stimulus intensity is preprogrammed.

19. The system ofclaim 18, wherein said time-varying stimulus intensity varies as a function of time, including but not limited to time of day, time relative to food intake, time of year, time since implantation, time since system was reprogrammed, and time since system was evaluated.

20. The system ofclaim 19, wherein sensory feedback is used to estimate mental state.

21. The system ofclaim 20, wherein said estimated psychiatric state includes at least one of: mood, elation, depression, anxiety level, and psychosis.

22. The system ofclaim 1, wherein sensory feedback is used in the determination of said stimulus intensity.

23. The system ofclaim 22, wherein said sensory feedback consists of at least one of electromyographic signals, accelerometers, electrodes, acoustic transducers, force sensors, pressure sensors, velocity sensors, neurotransmitter sensors, and chemical sensors.

24. The system ofclaim 23, wherein said sensory feedback electrodes may also function as stimulating electrodes.

25. The system ofclaim 23, wherein said sensory feedback electrodes record signals from at least one of the globus pallidus internus, globus pallidus externus, internal capsul, thalamus, the subthalamic nucleus, the caudate, the putamen, the ansa lenticularis, the corticospinal tract, the substantia nigra, the nigrostriatal tract, cerebral cortex, motor cortex, premotor cortex, sensory cortex, cerebellum, cerebellar cortex, cerebellar nuclei, cerebellar projections, the brain stem, the spinal cord, central nervous system, the cranial nerves the peripheral nervous system, peripheral nerves, ganglia, sensory organs, golgi tendons, muscle stetch receptors, intrafusal fibers, and extrafusal fibers.

26. The system ofclaim 23, wherein said accelerometer measures movement of at least one of the head, eyes, face, jaw, neck, axial skeleton, appendicular skeleton, arms, legs, hands, feet, fingers, toes, vertebral column, and pelvis.

27. The system ofclaim 22, wherein said electromyographic signal arise from at least one of facial muscles, extraocular muscles, muscles of mastication, neck muscles, shoulder muscles, arm muscles, wrist muscles, hand muscles, torso muscles, chest muscles, abdominal muscles, back muscles, buttock muscles, peroneal muscles, leg muscles, calf muscles, foot muscles, and visceral muscles.

28. A neurological control system for modulating the activity of at least one nervous system component, the neurological control system comprising:

at least one intracranial stimulating electrode, each constructed and arranged to deliver a neural modulation signal to at least one nervous system component;

at least one sensor, each constructed and arranged to sense at least one parameter, including but not limited to physiologic values and neural signals, which is indicative of at least one of disease state, magnitude of symptoms, and response to therapy; and

a stimulating and recording unit constructed and arranged to generate said neural modulation signal based upon a neural response sensed by said at least one sensor in response to a previously delivered neural modulation signal, said stimulating and recording unit further comprising a reference module in communication with a patient interface module and a supervisory module, said reference module further comprising a memory register for the storage of control law reference values, said patient interface module facilitating monitoring and adjustment of said reference values by a patient and said supervisory module facilitating monitoring and adjustment of reference values by a health care provider.

29. The system ofclaim 28, wherein said particular characteristic is indicative of at least one of a neurological and psychiatric condition.

30. The system ofclaim 28, wherein said stimulating and recording unit generates said neural modulation signal in accordance with predetermined treatment parameters to treat at least one of a neurological and psychiatric disease.

31. The system ofclaim 28, wherein said stimulating and recording unit comprises:

a signal processor constructed and arranged to determine neural system states; and

a control module for adjusting said at least one neural modulation signal based upon said neural system state.

32. The system ofclaim 28, wherein each of said at least one sensor generates one or more neural response signals, and wherein said stimulating and recording unit further comprises:

a signal conditioner, interposed between said at least one sensor and said signal processor, constructed and arranged to modify said neural response signals appropriately for said signal processor.

33. The system ofclaim 32, wherein said signal conditioner comprises:

at least one amplifier, each constructed and arranged to amplify said neural response signals generated by an associated one of said at least one sensor; and

at least one signal filter, each constructed and arranged to filter said amplified neural response signals generated by an associated one of said at least one sensor and an associated at least one amplifier.

34. The system ofclaim 33, wherein said at least one signal filter performs at least one of lowpass filtering, highpass filtering, bandpass filtering and notch filtering of said amplified neural response signal.

35. An apparatus for modulating the activity of at least one nervous system component, said system comprising:

means for delivering neural modulation signal to said nervous system component;

means for sensing neural response to said neural modulation signal, and

a stimulating and recording unit, said stimulating and recording unit further comprising a reference module in communication with a patient interface module and a supervisory module, said reference module further comprising a memory register for the storage of control law reference values, said patient interface module facilitating monitoring and adjustment of said reference values by a patient and said supervisory module facilitating monitoring and adjustment of reference values by a health care provider.

36. The apparatus ofclaim 35, wherein said delivery means comprises means for generating said neural modulation signal, said generating means comprising:

signal conditioning means for conditioning sensed neural response signals, said conditioning including but not limited to at least one of amplification, lowpass filtering, highpass filtering, bandpass filtering, notch filtering, root-mean square calculation, envelope determination, and rectification;

signal processing means for processing said conditioned sensed neural response signals to determine neural system states, including but not limited to a single or plurality of physiologic states and a single or plurality of disease states; and

controller means for adjusting neural modulation signal in response to sensed neural response to signal.

37. The apparatus ofclaim 36, wherein said activity is indicative of a neurologic and psychiatric disease.

38. The apparatus ofclaim 36, wherein said disease state includes but is not limited to Parkinson's disease, Huntington's disease, hmiballism, choreoathetosis, dystonia, akinesia, bradykinesia, restless legs syndrome, other movement disorder, epilepsy, Alzheimer' disease, dementia, other neurologic disorder, depression, mania, bipolar disorder, other affective disorder, anxiety disorder, phobia disorder, borderline personality disorder, schizophrenia, multiple personality disorder, and other psychiatric disorder.

39. The apparatus ofclaim 38, wherein said disease is a movement disorder.

40. The apparatus ofclaim 39, wherein said means for delivering neural modulation signal to said nervous system component includes electrodes implemented into at least one of the globus pallidus internus (GPi), including globus pallidus internus internal segment (Gpi,i) and globus pallidus internus external segment (Gpi,e), globus pallidus externus (Gpe), ventral medial (Vim) thalamic nucleus, other portion of the thalamus, subthalamic nucleus (STN), caudate, putamen, other basal ganglia components, cingulate gyrus, other subcortical nuclei, nucleus locus ceruleus, pedunculopontine nuclei of the recitcular formation, red nucleus, substantia nigra, other brainstem structure, cerebellum, internal capsule, external capsule, corticospinal tract, pyramidal tract, ansa lenticularis, white matter tract, motor cortex, premotor cortex, supplementary motor cortex, other motor cortical regions, somatosensory cortex, other sensory cortical regions, Broca's area, Wernicke's area, other cortical regions, other central nervous system structure, other peripheral nervous system structure, other neural structure, sensory organs, muscle tissue, or other non-neural structure.

41. The apparatus ofclaim 39, wherein said means for sensing neural response includes but is not limited to at least one of measures of disease state and response to therapy.

42. The apparatus ofclaim 39, wherein said means for sensing neural response includes at least one of accelerometers electromyography electrodes, acoustic sensors, intracranial electrodes, electroencephalography electrodes, and peripheral nerve electrodes.

43. The apparatus ofclaim 39, wherein said means for sensing neural response includes a weighted aggregate of processed signals derived from at least one of accelerometers, electromyography electrodes, acoustic sensors, intracranial electrodes, electroencephalography electrodes, and peripheral nerve electrodes.

44. The apparatus ofclaim 38, wherein said controller means for generating a neural modulation signal employs a control law using as input signals derived from at least one of accelerometers, electromyography electrodes, acoustic sensors, intracranial electrodes, electroencephalography electrodes, and peripheral nerve electrodes.

45. The apparatus ofclaim 40, wherein said controller means for generating a neural modulation signal employs a control law using as input a weighted aggregate of processed signals derived from at least one of accelerometers, electromyography electrodes, acoustic sensors, intracranial electrodes, electroencephalography electrodes, and peripheral nerve electrodes.

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